Continuum manipulators are robotic manipulators built using one continuous, elastic, and highly deformable “backbone” instead of multiple rigid links and joints. I n previous work, we illuminated various kinematic and dynamic properties of continuum robots, but the question of controller design remained open. This paper presents a basic result for continuum robots that has long been knoum for r...

This paper studies the coordinated motion control of robotic manipulators driven by single-rod hydraulic actuators. Compared to conventional robot manipulators driven by electrical motors, hydraulic robot arms have a richer nonlinear dynamics and stronger couplings among various joints (or hydraulic cylinders). This paper presents a physical model based adaptive robust control (ARC) strategy to...

This paper studies the coordinated motion control of robotic manipulators driven by single-rod hydraulic actuators. Compared to conventional robot manipulators driven by electrical motors, hydraulic robot arms have a richer nonlinear dynamics and stronger couplings among various joints (or hydraulic cylinders). This paper presents a physical model based adaptive robust control (ARC) strategy to...

A neuro fuzzy control algorithm for planar robotic manipulators is developed in this paper. This control algorithm is able to handle uncertainties, disturbances or unmodeled dynamics. Asymptotic stability of the equilibrium state of the control system is shown by use of direct Lyapunov method and Barbalat’s Lemma. A series of simulations confirms the algorithm goodness. Key-Words: fuzzy control...

Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected to active winches to provide a variable length and hence to actuate the mechanism or may be only to provide a kinematic constraint to eliminate an undesired motion of the endeffector. Ma...

Robotic telesurgery is a promising application of robotics to medicine, aiming to enhance the dexterity and sensation of regular and minimally invasive surgery through using millimeter-scale robotic manipulators under control of the surgeon. With appropriate communication links, it would also be possible to perform remote surgery for care in rural areas where specialty care is unavailable, or t...

In a recent work of [16], a hybrid adaptive controller for rigid-link electrically-driven robot manipulators was proposed. Semiglobal asymptotic stability of the controller was established in the Lyapunov sense. However, there are two limitations in it. One is that the controller requires the joint velocity measurements, that with the required accuracy can be difficult to realize in practical a...

A learning control scheme for a class of robot manipulatorswhose endpoint is moving under geometrical constraints on a surfaceis proposed. In this scheme, the input torque command is composed oftwo different signals updated separately at every trial by different ways.One is updated by the angular velocity error vector which is projectedto the tangent plane of the constraint ...