Master-Slave Manipulator Using Two Degrees of Freedom Robust Control.

Robust Tracking Control of Two-degrees-of-freedom Mobile Robots

A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of the reference trajectory. This allows accurate positioning at low speeds, close to obstacles. The d...

Master-Slave Teleoperation Method of Redundant Manipulator

Abstract. This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polyno...

Development of Scara Manipulator with Two Degrees of Freedom Using Dc Motor

This paper details the construction of a Robotic Arm or manipulator with SCARA configuration and having DC Motors at its joints. There are two revolute joints present in the manipulator arm which helps the manipulator to be in RRP configuration. The DC Motors are given a pulse for a definite duration according to which they rotate by a certain angle.

Nonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System

This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

Decoupling Multivariable Control with Two Degrees of Freedom