Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the d...

Flexible manipulator is widely used in the implementation of industial robotic due to its advantages such as low weight, power consumption, higher load capacity, high-speed operation, small actuators and production costs. However, position speed flexible system are very difficult control tip vibration that result degradation performance. Modelling a double-link robot presented this study. Contr...

Abstract To reduce the contour error of end-effector a robotic manipulator during trajectory tracking, dual-mode synchronization predictive control is proposed. First, dynamic model n-degree-of-freedom (n-DOF) discretized by using Taylor expansion method, and mapping relationship between joint in space task constructed. Second, tracking are defined, coupling joints derived through coefficient λ...

Kinematically redundant serial manipulators are currently used in industry either to avoid singular configurations or to increase dexterity. However, the surplus degrees of freedom of such mechanisms can also be used to ensure, or at least increase safety in a human-robot collaborative scenario. In this work the behavior of a serial manipulator with nine rotary joints is described where one joi...

In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H∞ control problem), presented in Chen et all (1994), is extended to underactuated manipulators. The dynamic coupling between the links is used to control all manipulator’s free joints. A global explicit solution is found solving a minimax Bellman-Isaacs equation, generated via differential game theo...

SUMMARY A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method. 1. INTRODUCTION The design of a redundant manipulat...

This paper briefly discusses about the Robust Controller based on Adaptive Sliding Mode Technique with RBF Neural Network (ASMCNN) for Robotic Manipulator tracking control in presence of uncertainities and disturbances. The aim is to design an effective trajectory controller without any modelling information. ASMCNN designed have robust Robot Manipulator, which combines Estimation Control. mode...

 The BIGSS lab is developing a minimally-invasive surgical workstation to treat the osteolytic lesions using using a snake like dexterous manipulator (SDM).  The SDM will be positioned in the workspace by a robotic arm.  The focus of this project is integrating the SDM with the robotic armwhich is a 6 DOF Universal Robot (UR5) and position control of the tip of the SDM inside the lesion area.

In this paper, new sufficient conditions for safe motion/force tracking control of robotic systems under unknown environment are proposed. The asymptotic stability conditions are proved using a Lyapunov impedance approach and the relationship between the error dynamics of the robotic system and its energy. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the s...