The motion planning approach of a multi-fingered robot for carton flap folding operations has been newly developed. This approach considers the loci of the tool center point for carton flap folding operations. Also that considers the pushing or fixing points of the carton flap. This approach is calculated from the rotating angle for carton flap folding and the position of a robot finger tip in ...

The robot arms often follow a certain trajectory depending on the type of end effector with functions spray-painting, arc welding, bonding or machining etc. Therefore, trajectory-tracking control is very important issue in arm applications. Also, must be able to determined stably under influence external forces it encounters its operations. In this study, Model Predictive Control (MPC) for trac...

Good tools are needed in order to develop robotic systems efficiently. Today, in addition to CAD/CAM, there are tools for model derivation, control design and implementation. There are also tools for exporting models to a control design environment, as well as from control design to implementation (rapid prototyping tools). It is however, still difficult to combine these tools, especially when ...

This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on estimation of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to parameter variations for a chosen switching hypersurface in conditions when it is reached by the dynamic motion with th...

Vision and force sensors provide rich information which can enable robots to execute complex tasks. However, the integration of these two different types of sensors is not a trivial task. This paper provides a novel technique for the integration of vision and force information. Visual servoing and explicit force control techniques are applied in the task frame formalism. Disadvantages of the co...

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...