Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which re...

In this letter, we propose a real-time self-collision avoidance approach for whole-body humanoid robot control. To achieve this, learn the feasible regions of control in humanoid's joint space as smooth boundary functions. Collision-free motions are generated online by treating learned functions constraints Quadratic Program based Inverse Kinematic solver. As geometrical complexity grows with n...

in this paper, an intelligent controller is applied to control omni-directional robots motion. first, the dynamics of the three wheel robots, as a nonlinear plant with considerable uncertainties, is identified using an efficient algorithm of training, named lolimot. then, an intelligent controller based on brain emotional learning algorithm is applied to the identified model. this emotional lea...

A contact-based calibration technique using a robot-mounted calibration probe, has been experimented with. The probe is to be implemented by utilizing a wrist-mounted force sensor. The technique is based on constraining the sampled robot joint poses to those where the probe end is in controlled contact with a planar surface. The paper illustrates how the technique may be used to achieve a joint...

Industrial robots typically perform a variety of tasks and occupy critical positions in modern manufacturing fields. When certain failures occur the internal structures robots, it tends to result significant financial loss consumption human resources. As result, timely effective fault diagnosis is ensuring safe operation robots. Deep learning-based methods are currently being widely used by res...