Robotic manipulators are widely used to help in dangerous, monotonous, and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence, the existing heavy rigid manipulators are shown to be inefficient ...

In this paper we study the control of redundant planar robotic manipulators using a switched (or hybrid) control scheme, focusing on manipulators with a degree of redundancy of one. We emphasize the eeectiveness of switched control systems with respect to stabilization and performance enhancement for this class of manip-ulators. We present a simulation study of logic{based switching control of ...

The task definition for mobile manipulators is presented. Then, a generic formulation of global instantaneous kinematics is proposed for wheeled mobile manipulators. It is compared with the classical kinematic modelling of robotic arms. In particular, it is shown that many tools of classical manipulation can be re-used in this new framework. Finally, simulation results and experiments are prese...

In this paper, the control of robotic manipulators (RMs) is studied. The RMs are widely used in industry. multi-input-multi-output systems, and their dynamics highly nonlinear. To improve accuracy practice, it impossible to ignore influence nonlinear interaction inputs–outputs. Non-structural uncertainties such as friction, disturbance, unmodeled other challenges these systems. Recently, type-3...

Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, identification is extremely important. However, serial that do not meet Pieper criterion cannot obtain through analytical methods. A joint angle parameterization method, used to configurations, here creatively proposed. First, an method based on Jac...

the control law (3) does not only improves the transient performance, but also provides smoother outputs. It is important to stress that a better performance can still be achieved with (28) and (30). However, as discussed in Remark IV.1, increasing gains would not only cause more peaks in the outputs, but it might also yield saturation, especially for 2. V. CONCLUSION The tracking control probl...

Today's most successful surgical robots are perhaps surgeon-driven systems, such as the daVinci (Intuitive Surgical Inc., USA, www.intuitivesurgical.com). These have already enabled surgery that was unattainable with classic instrumentation; however, at their present level of development, they have limited utility. The drawback of these systems is that they are independent self-contained units,...

Flight and research experience to date indicates that teams of robots and humans will provide significantly greater productivity and capabilities than either system working alone. This paper details research developments in the University of Maryland Space Systems Laboratory on three different approaches to human/robotic interaction in the space environment. In each of these, the human performi...

Continuum manipulators are robotic manipulators built wing one continuous, elastic, and highly deformable %ackbone” instead of multiple rigid links connected by joints. This paper eztends a previous control result for planar continuum robots b y proposing a new asymptotic wnvergence argument for a PD-plw-feedforward controller. The benefit of the asymptotic a w m e n t s is that the backbone be...