Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter (units)</td><td class="align_center">Value</td><td class="align_center">Description</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left"><span style="width: 37.2373ptpx;"><svg height="12.5794pt" id="M1" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 37.2373 12.5794" width="37.2373pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z" 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-11H683C765 269 826 458 848 522C878 605 887 613 956 622V650Z" id="g121-85"></path></g><g transform="matrix(.013,0,0,-0.013,32.534,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path></g></svg></span></td><td class="align_center">40</td><td class="align_center">Rated power of DC motor</td></tr><tr><td class="align_left"><span style="width: 35.6975ptpx;"><svg height="12.5794pt" id="M2" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 35.6975 12.5794" width="35.6975pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M715 650H476L470 622C550 619 562 610 562 570C562 536 553 481 535 384L523 321C485 121 408 37 283 37C178 37 99 109 134 297L178 532C193 612 199 616 278 622L284 650H29L23 622C105 616 109 609 94 532L48 291C23 160 51 83 98 40C143 -1 202 -16 260 -16C321 -16 387 3 439 49C509 111 542 204 563 312L577 384C595 479 608 533 619 569C629 603 637 620 709 622L715 650Z" id="g113-86"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.606,3.132)"><path d="M397 380C406 395 404 411 396 425S369 451 350 451C302 451 239 372 192 294H189L199 338C214 407 207 451 180 451C152 451 83 405 30 345L48 318C87 354 117 372 125 372S135 362 127 324L55 -5L61 -12C87 -5 117 3 139 5C154 87 168 162 179 207C198 250 240 310 260 332C281 355 297 366 307 366C321 366 333 360 347 346C351 342 360 342 369 348C379 355 389 366 397 380Z" id="g50-115"></path></g><g transform="matrix(.013,0,0,-0.013,17.363,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path></g><g transform="matrix(.013,0,0,-0.013,21.861,0)"><path d="M687 650H462V622C543 612 549 605 530 547C498 447 422 252 372 126H370C302 298 229 492 204 563C188 607 191 615 262 622V650H17V622C77 616 93 608 122 534C180 389 262 172 329 -11H360C436 196 541 450 568 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id="g113-42"></path></g></svg></span></td><td class="align_center">2.1</td><td class="align_center">Rated current of DC motor</td></tr><tr><td class="align_left"><span style="width: 55.91ptpx;"><svg height="12.5794pt" id="M4" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 55.91 12.5794" width="55.91pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M495 86L479 114C446 82 419 66 409 66C401 66 401 72 406 97C420 166 436 231 453 297C489 435 454 448 428 448C406 448 384 439 354 422C305 394 222 327 161 247H159L183 345C200 415 194 448 173 448C143 448 82 410 23 351L38 325C64 349 95 371 105 371C111 371 116 365 109 336L25 -4L31 -12C50 -4 77 3 107 9C119 69 132 122 145 168C197 254 321 381 370 381C387 381 393 374 378 305L329 95C309 17 320 -12 345 -12C372 -12 430 19 495 86Z" id="g113-111"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.461,3.132)"><path d="M397 380C406 395 404 411 396 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class="align_center">Reduction ratio of the reducer</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Shock and Vibration

tab1

Table 1

Table 1: Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot 