In this paper robust controllers have been obtained by using QFT and H∞ control techniques, to control movements of waist, shoulder and elbow of a 6-DOF manipulator. An uncertain experimental linear model of the robot, that represents the non-linearity of the dynamics system, was used to design the controllers. First, H∞ controllers were obtained by using weighting functions and then robust PID...

In this paper, a new impedance function is proposed to achieve accurate force tracking under the presence of uncertainties in robot dynamics and environment models. The new impedance function is formulated on the basis of PID control of the force tracking error which compensates for the unknown environment stiiness and position. The robot dynamics uncertainties are compensated by a simple time-...

This work is about the energy analysis of a humanoid robotic arm, seen as complex energy chain. We developed a simulation platform suitable for modelling the kinematics, dynamics, and energy balances of a real humanoid robotic arm. The model was validated by an accurate comparison with the real robot. Then, we performed a first compared study of the motion dynamics of the simulated robot arm an...

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...

Proportional + Integral + Derivative (PID) controllers are widely used in engineering applications such that more than half of the industrial controllers are PID controllers. There are many methods for tuning the PID parameters in the literature. In this paper an intelligent technique based on eXtended Classifier System (XCS) is presented to tune the PID controller parameters. The PID controlle...

Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The propo...

In this paper, a trajectory tracking control for a nonholonomic mobile robot by the integration of a kinematic controller and torque controllers is investigated. The proposed neural torque controllers (PNTCs) are based on a Gaussian radial basis function neural network (RBFNN) modeling technique, which are used to compensate the mobile robot dynamics, and bounded unknown disturbances. Also, the...