...Nemanja Kovinčić; Hubert Gattringer; Andreas Müller; Mathias Brandstötter Following the performance and force limitation method of the ISO/TS 15066 standard, safety of a human–robot collaboration task is assessed for critical situations assuming quasi-static impact. To this end, impact forces...

...Andras Bartfai; Asier Barrios; Zoltan Dombovari This study is interested in the stability of robots in machining. The goal is to improve the dynamic performance of robots using an additional acceleration signal fed back through the conventional built-in proportional-derivative controller provided...

... Multibody system dynamics Nonlinear dynamical systems Design optimization Robotics Impact Contact Friction modeling Numerical Integration methods Bio-mechanical systems Biological systems Dynamics Stability of nonlinear systems Design sensitivity Nonlinear systems Mechanism systems...

...B. Sandeep Reddy; Ashitava Ghosal This paper deals with the issue of robustness in control of robots using the proportional plus derivative (PD) controller and the augmented PD controller. In the literature, a variety of PD and model-based controllers for multilink serial manipulator have been...

... . Manuscript received March 7, 2017; final manuscript received April 1, 2018; published online April 27, 2018. Assoc. Editor: Brian Feeny. 07 03 2017 01 04 2018 Control Multibody system dynamics Nonlinear oscillations Robotics Stability of nonlinear systems Vibration Mechanism...

... the effectiveness of the proposed control method. In this part, the adaptive fuzzy fractional-order nonsingular terminal sliding mode controller (AFFO-NTSMC) strategy is designed for trajectory tracking of the rigid n − link robot manipulator. The dynamic equation of an n-link robot manipulator can...

...Yuwen Li; Jiancheng Ji; Shuai Guo; Fengfeng (Jeff) Xi This paper proposes a method for process parameter optimization of a mobile robotic percussive riveting system with flexible joints to guarantee the rivet gun alignment during the operation. This development is motivated by the increasing...

...A. M. Shafei; H. R. Shafei In this article, a recursive approach is used to dynamically model a tree-type robotic system with floating base. Two solution procedures are developed to obtain the time responses of the mentioned system. A set of highly nonlinear differential equations is employed...

...Phanindra Tallapragada; Vitaliy Fedonyuk The control of the motion of nonholonomic systems is of practical importance from the perspective of robotics. In this paper, we consider the dynamics of a cartlike system that is both propelled forward by motion of an internal momentum wheel...

... , “ The Calculation of Robot Dynamics Using Articulated-Body Inertias ,” Int. J. Rob. Res. , 2 ( 1 ), pp. 13 – 30 . 10.1177/027836498300200102 [2] Orlandea , N. , Chace , M. A. , and Calahan , D. A. , 1977 , “ A Sparsity-Oriented Approach to the Dynamic Analysis and Design of Mechanical Systems...

... , “ MIMO Closed Loop Identification of an Industrial Robot ,” IEEE Trans. Control Syst. Technol. , 19 ( 5 ), pp. 1214 – 1224 . 10.1109/TCST.2010.2077294 [4] Marton , L. , and Lantos , B. , 2011 , “ Control of Robotic Systems With Unknown Friction and Payload ,” IEEE Trans. Control Syst...

...Yushu Bian; Zhihui Gao; Ming Fan Impact may excite intense vibration responses of the flexible robotic arm and thus deteriorate its working performance. A vibration absorption method is put forward to alleviate impact influence of the flexible robotic arm. To dissipate the impact vibration energy...

... OF C OMPUTATIONAL AND N ONLINEAR D YNAMICS . Manuscript received December 18, 2015; final manuscript received November 29, 2016; published online January 19, 2017. Assoc. Editor: Ahmet S. Yigit. 18 12 2015 29 11 2016 Non-smooth dynamics Nonlinear dynamical systems Robotics...

...Ambrus Zelei; László Bencsik; Gábor Stépán Model-based control methods such as inverse dynamics control and computed torque control encounter difficulties if actuator saturation occurs. However, saturation is a common phenomenon in robotics leading to significant nonlinearity in system behavior...

... Rigid-body dynamics Robotics Dynamics Flexible-body dynamics Mechanism systems The following is the story of the growth of the technology now called multibody dynamics. However, more than that, it is the story of the times and some of the people who allowed that technology to develop...

...B. Sandeep Reddy; Ashitava Ghosal A feedback controlled robot manipulator with positive controller gains is known to be asymptotically stable at a set point and for trajectory following in the sense of Lyapunov. However, when the end-effector of a robot or its joints are made to follow a time...