The behavior of robotic manipulators with backlash is analyzed. Based on the pseudo-phase plane two indices are proposed to evaluate the backlash effect upon the robotic system: the root mean square error and the fractal dimension. For the dynamical analysis the noisy signals captured from the system are filtered through wavelets. Several tests are developed that demonstrate the coherence of th...

In this paper, genetic algorithms are used to robustify digital multivariable PID controllers for robotic manipulators. This process of robustification is effected by using genetic algorithms to determine the optimal set of controller tuning parameters for typical trajectorytracking tasks. This use of genetic algorithms is illustrated by the design of a digital trajectory-tracking controller fo...

This paper describes the design of a novel sliding mode controller for tracking of robotic manipulators. By using a proportional-integral combination of the sliding function in the boundary layer, control chattering is eliminated without deterioration of system robustness. Theoretical developments are verified by simulation results for the tracking problem of a 2 DOF robotic manipulator.

Control and modelling of continuum robots are challenging tasks for robotic researchers. Most works on modelling are limited to piecewise constant curvature. In many cases they neglect to model the actuators or avoid a continuum approach. In particular, in the latter case this leads to a complex model hardly implemented. In this work, a geometrically exact steady-state model of a tendon-driven ...

This paper provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurement...

Dynamic uncertainties and unknown disturbances will degrade the tracking performance of robots. When using a disturber observer-based controller, key to effectively compensate for these is measure or estimate as accurately possible any disturbance. To relax restrictions on design current nonlinear disturbance observer robot, universal proposed higher estimation performance. The stability theore...