Due to the advantages of large workspace, low cost and the integrated vision/force sensing,
robotic milling has become an important way for machining of complex parts. In recent years …

Robotic manipulators are electronically controlled mechanical devices with several links,
which are used to perform any specific task under certain circumstances. However, the …

The flexible manipulator servo system considering the second-order modal and two-
dimensional deformation is too complicated, which is not conducive to real-time control. In …

This article address a novel adaptive error port controlled Hamiltonian scheme for nonlinear
systems with parameters uncertainty and external disturbances. Considering the input …

Residual vibrations caused by point-to-point motions reduce the positioning accuracy and
dynamic performance of flexible link manipulators, and the trajectory planning method, a …

The existing studies on milling robot dynamic characteristics pay little attention to robot
structures, while structure mode shape analysis is significant to accurate vibration control …

Flexible robotic manipulators (FRMs) exhibit advantages over traditional rigid-body
manipulators, including lower energy consumption, faster response, enhanced safety …

In this paper, the infinite-dimensional port-Hamiltonian modelling and control problem of a
flexible beam actuated using ionic polymer metal composite (IPMC) actuators is …

Model design and motion control are considered the cornerstones of the robotic field that
allow for achieving performance tasks. This article proposes a new dynamic modeling and …

Modelling errors and robust stabilization/tracking problems under parameter and model
uncertainties complicate the control of the flexible underactuated systems. Chattering-free …