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By Seyed Ehsan Shafiei

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5 α −3 −2 −1 0 1 2 xp i , xni Fig. 15. a. Ratio distances variation b. Rectangle transformation and distance variation under zoom influence 5. A Compliance control of a hyper redundant robot This section treats a class of hyper redundant arms can achieve any position and orientation in 3D space, and that can perform a coil function for the grasping. The arm is a high degree of freedom structure or a continuum structure, but in this chapter a different technological solution is assumed. The general form of the arm is shown in Figure 16.

117-126 Mohamed Z. O. (2004). Command shaping techniques for vibration control of a flexible robot manipulator, Mechatronics, Vol. 14, pp. 69–90. ; Furuno S. & Yamamoto M. (2001). Trajectory planning of mobile manipulator with end-effector's specified path, Proc. IEEE Int. Conf. on Intelligent Robots and systems, pp. 2264-2269 Papadopoulos E. & Rey, D. (1996). A New measure of tip over stability margin for mobile manipulators, Proc. IEEE Int. Conference on Robotics and Automation, pp. 3111-3116 Papadopoulos E.

On the implementation of an interior-point filter linesearch algorithm for large-scale nonlinear programming, Mathematical Programming, Vol. 106, No. 1, pp. , Tso S. K. & Xu W. L. (2001). Maximum dynamic payload trajectory for flexible robot manipulators with kinematic redundancy, Mechanism and Machine Theory 36, 785– 800 Zhang C. X. & Yu Y. Q. (2004). Dynamic analysis of planar cooperative manipulators with link flexibility, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 126, pp.

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