Owing to load variation and unmodeled dynamics, a robot manipulator can be classified as a nonlinear dynamic system with structured and unstructured uncertainties. In this paper, the stability and robustness of a class of the fuzzy logic control (FLC) is investigated and a robust FLC is proposed for a robot manipulator with uncertainties. In order to show the performance of the proposed control...

This paper presents a comparative study of four control strategies for a flexible joint space manipulator. The considered control strategies consist in the classical Slotine and Li algorithm, a simple proportional derivative controller, a singular perturbation-based controller and a nonlinear backstepping controller. All control methodologies are assessed in numerical simulations for endpoint p...

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason, the exact model of the undersea robot manipulator is difficult to obtain. In this paper, ...

Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive in...

A duality theory existing between iterative learning and repetitive control for linear time-invariant systems has been reported. This paper considers the application of this duality in the design of such controllers for a non-minimum phase experimental facility and a three-axis gantry robot, where the task performed can be configured in either mode of operation. The models used in the design wo...

Flexible manipulators are extensively used in industries. A theoretical analysis of intelligent tracking controller based on emotional learning model in mammalians brain for single-link flexible-joint manipulator is presented. Brain emotional learning based intelligent controller (BELBIC) is an intelligent controller based on the model of emotional part of brain. In this paper, BELBIC is applie...

In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to manipulator in the lab for sake of experiments. Another situation when dynamical and inertial parameters of a robot are uncertain arises, is the grasping of ...

This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...

Design and Remote Control of a Gantry Mechanism for the SCARA Robot. (August 2007) Surinder Pal, B.Tech., Indian Institute of Technology, Bombay Chair of Advisory Committee: Dr. Sheng-Jen "Tony" Hsieh Remote experimentation and control have led researchers to develop new technologies as well as implement existing techniques. The multidisciplinary nature of research in electromechanical systems ...