For the present paper, we developed an output feedback chattering position regulator for n-degreesof-freedom (DOF) robot manipulators with elastic and frictional joints. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations and ex...

For most of the rigid manipulators, it is possible to apply a gravity compensation mode, by which the user is able to easily reconfigure the arm and record the necessary data. However, due to the specific characteristics of soft robots such as elastic properties and complex dynamics, it is usually very difficult to implement kinesthetic teaching for Learning from Demonstration (LfD) scenarios. ...

In this paper we present a robust hybrid motion/force controller for rigid robot Abstract manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion object ives in free direct ions and force object ives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given sc...

In this paper, the contact motion between rigid body systems floating in space is formulated and dynamic conditions are investigated in order to capture a non-cooperative satellite. As for the theoretical investigation, impedance matching is discussed for the case in which the robot hand under impedance control approaches and collides with a passive target, and a specific impedance value is def...

Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangianassumed modes formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations are organized in a form similar to rigid manipulator equations. ...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

AbstmctmMimicking the case of rigid robot arms, the set-point regulation problem for manipulators with flexible links moving under gravity can be solved by either model-based compensation or l i D control. The former cannot be applied if an unknown payload is present or when model parameters are poorly estimated, while the latter requires fine and lengthy tuning of gains in order to achieve goo...

In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...