In this paper, a novel tacking control approach is proposed for real-time navigation of a nonholonomic mobile robot. The proposed tracking controller is based on the error dynamics analysis of the mobile robot and a neural dynamics model derived from Hodgkin and Huxley’s membrane model of a biological system. The stability of the control system and the convergence of tracking errors to zeros ar...

An important issue in robotics research is path tracking control where the robot is required to follow a certain path. The error between the desired path and the actual path is to converge to zero. This problem is more complicated when the robot dynamics is considered. This paper proposes a real time trajectory tracking control for a differential drive wheeled mobile robot (DDWMR) in obstacle-f...

We analyze the stability of previously proposed mobile robot teleoperation system [7]. Unlike to other approaches human-operator dynamics is included for the stability analysis. Mobile robot teleoperation systems have two major differences when they are compared with conventional bilateral teleoperators: first, rate mode control is used; second, absence of physical interaction of the robot with...

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analy...

In the R&D community there is a growing awareness of the importance of benchmarking. Benchmarks not only allow comparing performance of different technologies, devices, and algorithms, but also define and thereby boost R&D targets and directions, and are an important support to standardization and regulation procedures towards market introduction. Benchmarking has been recently considered by th...

This paper proposes a process to design an iterative learning control (ILC) to be applied to flexible joint robot manipulators which repeats identical tasks under the same operation conditions. The proposed ILC updates the desired trajectory not the feedback control signals in order to avoid potentially destabilizing embedded controllers of the robot manipulators. To guarantee the convergence o...

As a result of the increase in robots in various fields, the mechanical stability of specific robots has become an important subject of research. This study is concerned with the development of a two-wheeled inverted pendulum robot that can be applied to an intelligent, mobile home robot. This kind of robotic mechanism has an innately clumsy motion for stabilizing the robot’s body posture. To a...

This paper proposes an adaptive dynamic-based path control for a differential drive mobile robot. The control law involves error coordinates expressed in a coordinate frame which are partially linked to the robot. The construction of the controller is based on a two-layer structure using the principle of decomposition of the control problem. Assuming that the robot parameters are unknown but co...

This paper presents a numerically stable method for rigid body simulation of unstructured meshes undergoing forceful contact, such as in robot locomotion and manipulation. The key contribution is a new contact generation method that treats the geometry as having a thin virtual boundary layer around the underlying meshes. Unlike existing methods, it produces contact estimates that are stable wit...

A synthesis algorithm for the filters in a first order ILC is presented and applied on an industrial robot. The proposed ILC synthesis method is evaluated using two experiments on the robot. The first is a one-axis experiment where the system can be seen as a single servo. A modeling experiment is done to give input to the synthesis algorithm and then ILC is applied to the single axis showing a...