Special Issue: Advanced Motion Control. Advanced Motion Control for Robot Manipulators.

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Advanced Control of Biped Robot Motion

Next generation robots will be required to operate alongside people in complex environments that are primarily designed for humans. Humanoid robots present themselves as the logical choice for such tasks. In order to successfully navigate within human environments, humanoid robots require complex dynamic movements with robust balance maintenance on uneven terrain and during unexpected balance d...

Motion Control of Robot Manipulators

Advanced Nonlinear Control of Robot Manipulators

In the development of modern robot manipulators, it is required that the robot controller has the capability to overcome unmodeled dynamics, variable payloads, friction torques, torque disturbances, parameter variations, measurement noises which can be often presented in the practical environment. The objective of this chapter is to provide the reader with an overview on advanced nonlinear cont...

Motion Planning and Control of Robot Manipulators

Oppgavens tittel (norsk): Bevegelsesplanlegging og regulering av robotmanipulatorer Oppgavens tittel (engelsk): Motion planning and control of robot manipulators Bakgrunn: Robot motion planning systems can be used to plan collision-free paths between start and end robot manipulator configurations. Many motion planners assume that the robot manipulator works in a static environment. However, man...