An adaptive controller is presented in this paper to control an n-link flexible-joint manipulator with time-varying uncertainties. The function approximation technique (FAT) is utilized to represent time-varying uncertainties in some finite combinations of orthogonal basis. The tedious computation of the regressor matrix needed in traditional adaptive control is avoided in the new design, and t...

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromuscular system could promote motor recovery. Here we demonstrate the capability of a novel, biologically-inspired neuromuscular controller (NMC)...

The use of material transfer units constructed from AGVs and robot manipulators is becoming popular in production lines with small production volumes and periods. This new material transfer unit is also called a mobile robot, which can quickly adapt to the change of the factory loyout. A mobile robot is sufficiently mobile that it can very flexibly perform tasks in the production line. A guidan...

A new formulation of a trajectory tracking controller for flexible joint robotic manipulator is proposed. The controller is based on the continuous time nonlinear predictive control approach wherein predicted errors in the actual response and the desired response and current control expenditure is minimized point-wise to obtain an optimal, nonlinear feedback control law. It is shown that the we...

in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from Cartesian joint angle space. translated angles are then as reference signal robot dynamics using controller. stability robustness of proposed control...

In this paper, the design and control of a novel shape memory alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. The actuator consists of 48 nickel-titanium SMA wires mechanically bundled in parallel forming one powerful artificial muscle. This new linear actuator can apply up to 100 lbf (445 N), which is approximately 300 times its weight, over a maximum...

This paper addresses the problem of gaze control for a humanoid robot head. We propose a control framework composed of two components: 1. an adaptive visual tracker that is capable of tracking an object with unknown trajectory and 2. an optimised visual control framework capable of controlling the overall head joint motions in order to maintain the tracked object at image centre. The advantage ...

In this paper, we propose to guide reinforcement learning (RL) with expert coordination knowledge for multi-agent problems managed by a central controller. The aim is to learn to use expert coordination knowledge to restrict the joint action space and to direct exploration towards more promising states, thereby improving the overall learning rate. We model such coordination knowledge as constra...

A novel, brain-like, hierarchical (affine-neuro-fuzzy-topological) control for biomechanically realistic humanoid-robot biodynamics (HB), formulated previously in [15, 16], is proposed in the form of a tensor-invariant, “meta-cybernetic” functor machine. It represents a physiologically inspired, three-level, nonlinear feedback controller of muscularlike joint actuators. On the spinal level, nom...