The Multiple Impedance Control (MIC) is a new algorithm which enforces a designated impedance on both a manipulated object, and all cooperating manipulators. In this paper, the MIC is applied to a space robotic system in which robotic arms, mounted on a free-flyingbase, manipulate an object. The general formulation of the MIC is extended to include the dynamic coupling between the arms and the ...

This paper presents the implementation of fractionalorder algorithms in the position/force hybrid control of robotic manipulators. The system performance and robustness is analyzed in the time and frequency domains. The effect of dynamic backlash and flexibility is also investigated.

Abstraet--Jacobians are used in robotics for motion planning and control. They are also used in algorithms that determine linkage parameter errors of robots and in algorithms that determine pair variable corrections for accurate motion. Most applications require that the inverse of the Jacobian be obtained. The causes of singularities in Jacobians and a procedure to detect their presence are gi...

A new robust learning controller for simultaneous position/force control of constrained uncertain rigid-link electrically-driven (RLED) manipulators is presented. In the controller, a robust nonlinear control design and the direct adaptive neural networks (NN) technique are integrated together. Firstly, NN devices are used to adaptively learn those RLED manipulator’s structured/unstructured unc...

Important robotic tasks could be most effectively done by powerful and accurate manipulators. However, high accuracy is generally unattainable in manipulators capable of producing high task forces due to such factors as high joint, actuator, and transmission friction and link elastic and geometric distortions. A method called Base Sensor Control (BSC) has been developed to compensate for nonlin...

The paper discusses new developments of the data fusion paradigm presented in [3], [4]. A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (pegin-hole) emerged from human skills are reported. Stereo vision and pose sense are fused to execute the task. Feedforward artificial neural networks (ANNs) are trained to transfer human skills to ro...

In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H∞ control problem), presented in Chen et all (1994), is extended to underactuated manipulators. The dynamic coupling between the links is used to control all manipulator’s free joints. A global explicit solution is found solving a minimax Bellman-Isaacs equation, generated via differential game theo...

Robotic manipulators with diverse structures find widespread use in both industrial and medical applications. Therefore, designing an appropriate controller is of utmost importance when utilizing such robots. In this research, we present a robust data-driven control method for the regulation 2-degree-of-freedom (2-DoF) robot manipulator. The nonlinear dynamic model 2-DoF arm linearized using Ko...