The model predictive control (MPC) technique for an articulated robot with n joints is introduced in this paper. The .proposed MPC control action is conceptually different with the traditional robot control methods in that the control action is determined by optimising a performance index over the time horizon. A neural network (NN) is used in this paper as the predictive model. The training da...

The trajectory-tracking control of a typical industrial robot with six revolute joints is studied, where the joint flexibility is taken into account. An explicit form of the control law is obtained by using the composite control technique. The stability of system is discussed. The global convergence of tracking error can be reached by tuning the controller parameters. This method has a unique a...

Mechanical flexibility in robot manipulators is due to compliance at the joints and/or distributed deflection of the links. Dynamic models of the two classes of robots with flexible joints or flexible links are presented, together with control laws addressing the motion tasks of regulation to constant equilibrium states and of asymptotic tracking of output trajectories. Control design for robot...

Introduction Four generic types of construction robots have been suggested in [4]. They were an assembling robot, an interior finishing robot, an exterior wall finishing robot, and a horizontal floor finishing robot. The interior finishing robot, as explained there, was designated to execute various interior finishing operations, such as partition erection, painting, plastering, jointing, tapin...

In this paper, we consider the problem of controlling an underactuated manipulator with less actuators than passive joints. The control methodology consists of dividing the passive joints in several groups, and of controlling one group at a time via its dynamic coupling with the actuators. Among the many possible control sequences for a given robot, we choose the optimal one based on the dynami...

Abstract In this article, we present a continuously tunable stiffness arm for safe physical human–robot interactions. Compliant joints and compliant links are two typical solutions to address safety issues interactions via introducing mechanical compliance robotic systems. While extensive studies explore variable joints/actuators, much less studied. This article details the design modeling of w...

Need to develop human body’s posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation ...

Neurobiological studies showed the important role of Centeral Pattern Generators for spinal cord in the control and sensory feedback of animals’ locomotion. In this paper, this role is taken into account in modeling bipedal locomotion of a robot. Indeed, as a rhythm generator, a non-classical model of a neuron that can generate oscillatory as well as diverse motor patterns is presented. This al...

Robots on ships have to endure large inertial forces due to the non-inertial motion of the ship. The ship motion affects both the motion planning and control of the manipulator, and accurate predictions can improve performance substantially. It is thus important to investigate to what extent it is possible to predict the future motion of a ship. Based on these predictions, this paper presents a...

This paper deals with the construction and control of a turtle-like underwater robot with four mechanical flippers. Each flipper consists of two joints generating a rowing motion by a combination of lead-lag and feathering motions. With cooperative movements of four flippers, the robot can propel and maneuver in any direction without rotation of its main body and execute complicated three-dimen...