|This paper addresses the problem of achieving exact dynamic hybrid force/position control with multidimensional manipulators possessing the low level position controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive hybrid force/position control algorithm for position controlled robot arms in contact with surf...

In this paper, we propose a robust visual feedback controller with integral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robustness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effective...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

To solve abruptly occurrence of parameters jumping and directed communication topologies changing in the control process networked manipulators, this paper, distributed switched consensus algorithms are formulated for a group robot manipulators realizing cooperative performance. In fact, Lagrange systems modeled as regarding different topologies. Namely, dynamic models switch when system or top...

An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inp...

Fuzzy adaptive; Microgravity; Robustness; Space robot; Trajectory tracking control Abstract Space robot is assembled and tested in gravity environment, and completes on-orbit service (OOS) in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dyna...

This paper presents experimental results acquired from the implementation of an adaptive control scheme for nonholonomic mobile robots, which was recently proposed by the same authors and tested only by simulations. The control system comprises a trajectory tracking kinematic controller, which generates the reference wheel velocities, and a cascade dynamic controller, which estimates the robot’...

Abstract Through the research on synchronization of cooperative trajectory dual industrial robots, this paper analyses characteristics master-slave control and distributed control, puts forward a fuzzy adaptive PID method suitable for scene which can dynamically adjust parameters online adapt dynamic system robots in real time. Taking two same 6-DOF ABB as examples, common controller are compar...