In this paper, we propose a feasible method to construct a virtual manipulator in a 3-D graphics environment, which is equivalent to a real manipulator including its dynamics. For this purpose, we firstly calibrate parameters of robot dynamics by the classic two algorithms. One is to use a few special motions to identify viscous, dynamic and static frictions, masses of links, centers of the mas...

The control problem of a robot manipulator with flexures both in the links and joints was investigated using the singular perturbation technique. Owing to the combined effects of the link and joint flexibilities, the dynamics of this type of manipulator become more complex and under-actuated leading to a challenging control task. The singular perturbation being a successful technique for solvin...

Underwater vehicle-manipulator (UVM) systems have been suggested for inspection, maintenance, repair and construction of underwater structures. The addition of manipulators to the vehicle makes control of the system more difficult due to the interaction forces between vehicle and manipulator. So, the efficient compensation of those interactions should be considered for accurate control of both ...

This paper presents a comparison of PD controls in joints space for serial manipulators whose dynamics is expressed in terms of two di erent kinds of quasi-velocities. Above mentioned dynamics was described in [1] and [2]. Robot dynamic algorithms in terms of so called normalized and unnormalized quasi-velocities [1] are recursive in nature and consists of two recursions: one starts from a base...

An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the con...

in this paper, a robust integral of the sign error (rise) feedback controller is designed for a rigid-link electrically driven (rled) robot manipulator actuated by direct current dc motor in presence of parametric uncertainties and additive disturbances. rise feedback with implicitly learning capability is a continuous control method based on the lyapunov stability analysis to compensate an add...

In this paper, two new methods for computation of the inertia matrix of robot manipulators are proposed. The new algorithms are based on a block diagram of manipulator dynamics, derived from the Newton-Euler formulation. The proposed methods allows to compute the inertia matrix explicitly, in an efficient recursive manner, and can be applied for robot dynamics simulation.