This paper presents an approach where the Particle swarm optimization (PSO) is employed to get optimum PID controller parameters to control of a SCARA robot. PSO is an evolutionary technique which is originated from swarm intelligence. A practical application of the PSO-PID controller is performed with the system dynamics. A simulation study is also included with the proposed controller by usin...

The paper describes a method for reducing the positioning errors of a SCARA manipulator during the execution of a motion along a given trajectory; the stiffness and damping properties of the robot transmissions are considered in the mathematical model by introducing viscoelastic components between the actuators and the arms. By means of an optimization algorithm the motion laws of the actuators...

This paper studies the reconstruction of unknown curved surfaces through finger tracking. A patch can be generated from tactile data points along three concurrent surface curves under the Darboux frame estimated at the curve intersection point. Surface fitting while minimizing the total (absolute) Gaussian curvature effectively prevents unnecessary folds otherwise expected to result from the us...

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the exp...

In this study, a novel method for identification and control of nonlinear systems is developed. The method proposed realizes the dynamics of a system by employing the Runge-Kutta method at the upper level. The intermediate level of the strategy constructs the architecture utilizing an adaptive neuro fuzzy inference system. The overall system is able to imitate the behavior of a complex dynamic ...

For flexible robots with rotational joints it has been shown previously, by the first author, that direct strain feedback can damp out vibrations very satisfactorily. In this paper, a simple sensor-based output feedback control law, called shear force feedback, is newly proposed to control vibrations arising from structural flexibility of robots of Cartesian or SCARA types. Closed-loop exponent...

This paper presents the use of adaptive mobile agents for remote operation, enabling real-time response in spite of the limitations of the communication channels in terms of time-delays, availability, and reliability. Autonomy of the mobile agents is achieved through high levels of intelligence including execution monitoring and error recovery. Potential applications range from traditional tele...

This paper addresses the estimation problem of the states and their derivatives for time-delay control (TDC), a robust control technique for nonlinear systems. To this end, an observer design method is presented. In addition, the sufficient conditions are discussed and implementation issues are addressed. Finally, experiments were undertaken on a SCARA-type robot subject to substantial inertia ...