This paper presents a scheme hybrid force/position control for robots manipulators nonlinear of n-DOF based on the principle of orthogonal decomposition spaces by holonomic constraints, which ensures stability of the closed-loop system because adaptive control exchange force and position between the manipulators to be applicable in free motion and in constrained motion. The reaction force in th...

Designing autonomous robotic systems able to manipulate deformable objects without human intervention constitutes a challenging area of research. The complexity of interactions between a robot manipulator and a deformable object originates from a wide range of deformation characteristics that have an impact on varying degrees of freedom. Such sophisticated interaction can only take place with t...

recently a method has been developed to decouple the equations of motion for multi-rigid body systems. in this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using lagaranges equations and kanes equation with congruency transformations. finally, the results obtained from both methods are throroughly ...

Mobile mechanical manipulators are one of the automation aspects which were revealed in last years of twentieth century. These machines assume the responsibility of human and gradually expand the domain of their activities in industry. This paper is a presentation of the Sweeper Robot designed in the Robotic Laboratory of Iran University of Science and Technology. The original design of this ro...

In this paper, we address the calibration of a family magnetic manipulation systems composed several coils that are moved around by serial robot manipulators. We show in paper whole system ultimately results calibrating manipulator and coil separately up to an unknown rigid transformation. For coil, propose use model has not been used so far literature; control-oriented which is sufficiently ac...

In this paper, dynamics, postural stability and control of suspended wheeled mobile manipulators for cooperative heavy object manipulation are elaborated considering the effect of grasping posture. The presented model considers a system equipped with multiple manipulators with flexible suspension, which also contains an accurate nonlinear behavior of the tires. Moreover, it includes the vibrato...

Simulation is a powerful visualization, planning, and strategic tool in different areas of research and development. The simulation has also a very important role in robotics. In the paper we focus on different tools for the dynamic simulation of robot manipulators, especially on those based on MATLAB/Simulink or using general dynamic engines and graphic languages. We present and compare some t...