Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of inverse dynamics solution, which algorithms proposed. Trajectory parallel kinematics manipulators (PKM) equipped with SEAs has not yet been pursued. Key element this is computationally efficient evaluation derivative solution. This present...

in this paper, an adaptive neuro fuzzy inference system (anfis) based control is proposed for the tracking of a micro-electro mechanical systems (mems) gyroscope sensor. the anfis is used to train parameters of the controller for tracking a desired trajectory. numerical simulations for a mems gyroscope are looked into to check the effectiveness of the anfis control scheme. it proves that the sy...

This paper addresses the issue of trajectory tracking control based on a neural network controller for industrial manipulators. A new control scheme is proposed based on neural network technology and linear feedback approach for tracking a planned trajectory. In detail, the control system is designed with two parallel subsystems designed separately. One is a linear controller, and another one i...

In practice, the robot motion is specified according to physical constraints, such as limited torque input. Thus, the computation of the desired trajectory is constrained to attain the physical limit of actuator saturations. See, e.g., (Pfeiffer & Johanni, 1987), for a review of trajectory planning algorithms considering the robot model parameters and torque saturation. Besides, trajectories ca...

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which re...

In order to improve the efficiency of human–robot interaction (HRI), it is necessary carry out research on precise control manipulator. this paper, an adaptive non-singular fast terminal sliding mode scheme proposed for robot manipulators solve trajectory tracking problem with model uncertainty and external disturbances. At first, a novel surface proposed, by introducing auxiliary function, sin...

This article proposes a shared-control teleoperation architecture for robot manipulators transporting an object on tray. Differently from many existing studies about remotely operated robots with firm grasping capabilities, we consider the case in which, principle, can break its contact end-effector. The proposed approach automatically regulates remote motion commanded by user and end-effector ...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

SCARA robot is one of the most popularly used robots in industry. The obstacle avoidance feature multiple collaboration essential and prominent, which can be to support accomplish not only more sophisticated tasks but also efficient than individual robot. This paper mainly focuses on studying problem simultaneous multi-robot coordination avoidance. A cooperative kinematic control manipulators, ...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...