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The paper presents a dynamic modelling technique for a manipulator with multiple flexible links and flexible joints, based on a combined Euler–Lagrange formulation and assumed modes method. The resulting generalised model is validated through computer simulations by considering a simplified case study of a two-link flexible manipulator with joint(More)
The paper describes use of soft computing methods (fuzzy logic and neural network techniques) in the development of a hybrid fuzzy neural control (HFNC) scheme for a multi-link flexible manipulator. A manipulator with multiple flexible links is a multivariable system of considerable complexity due to the inter-link coupling effects that are present in both(More)
The control problem of a robot manipulator with flexures both in the links and joints was investigated using the singular perturbation technique. Owing to the combined effects of the link and joint flexibilities, the dynamics of this type of manipulator become more complex and under-actuated leading to a challenging control task. The singular perturbation(More)
Several gradient-based approaches such as back-propagation, conjugate gradient and Levenberg Marquardt (LM) methods have been developed for training the neural network (NN) based systems. Still, in some situations, like multimodal cost function, these procedures may lead to some local minima, therefore, the evolutionary algorithms (EAs) based procedures(More)
A novel composite control scheme for a manipulator with flexible links and joints is presented that uses the singular perturbation technique (SPT) to divide the manipulator dynamics into reduced order slow and fast subsystems. A neural network controller is then applied for the slow subsystem and a state-feedback H∞ controller for the fast subsystem.(More)
The singular perturbation approach has been shown to be successful in controlling both  exible link manipulators and  exible joint manipulators. In this paper, the technique is extended to control both link and joint  exibility of a multilink manipulator simultaneously while a desired trajectory is being tracked. A comprehensive, closed-form,(More)
The development of a synthesis method of highquality fault tolerant systems for autonomous underwater robots with navigation sensors failures is addressed in this paper. The offered new method bases on using of kinematic models of these robots and a special fusion of data obtained from their onboard navigation sensors. The advantage of method is simplicity(More)