Abstract: Robotic manipulators have been widely used in many arenas, when the robotic arm performs positioning, a traditional controller (e.g., a proportional-integral-derivative, PID controller) has the problem of not being able to compensate the payload variations. When the end-effector of the robotic arm grasps different payload masses as most applications require, the output of joint motion...

—The above paper 1 presents the design of an adaptive/robust controller for uncertain electrically-driven robots with no velocity measurements. This note shows that the claim that velocity measurements are not required for control implementation is incorrect. This note addresses the adaptive/robust controller proposed in the above paper 1 by Su and Stepanenko for the position control of uncerta...

This paper addresses a neural-network-based chattering free sliding mode control (SMC) for robot manipulators including structured and unstructured uncertainties in both manipulator and actuator dynamics by incorporating a PID outer loop. The main idea is that the robustness property of SMC and good response characteristics of PID are combined to achieve more acceptable performance. Uncertainti...

At present, robotic manipulators are commonly used in manufacturing industry. In many cases, their end-effectors are required to move from one place to the other and follow some desired trajectories. This paper develops a nonlinear backstepping control design scheme with velocity observers for the trajectory tracking control of robotic manipulators. In fact, most of robot manipulator controller...

Humans and animals show a remarkable level of proficiency in their ways of locomotion. They exploit the dynamics of the whole body to perform a variety of motions such as jumping and running. The nature of legged robots raises big challenges for controlling these systems. High degrees of freedom (DOF) and highly nonlinear non-smooth dynamics (due to interaction with the environment) count among...

PD control is widely used in industrial robotic manipulators because of its simple structure and acceptable performance. In this paper, the PD-based control schemes for the trajectory tracking of the robotic manipulators are addressed. The fixed gain PD control, the nonlinear gain PD (NPD) control, the adaptive PD learning control (PD-LC), and the adaptive NPD learning control (NPD-LC) are appl...

In this paper a development of a visually based control platform for industrial robots is described. One of the objectives of a vision based control is to enable robotic manipulators to execute diverse complex tasks in non structured environments. Additionally to this aim, this platform presents two important characteristics: a) replaces the original controller, thus it is not required that the...