In this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. It provides both robust tracking and load swing suppression. Inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. The crane nonlinearities are then tr...

This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...

Today, robots and unmanned aerial vehicles are being used extensively in modern societies. Due to a wide range of applications, it has attracted much attention among scientists over the past decades. This paper deals with the problem of the stability of a four-rotor flying robot called quadrotor, which is an under-actuated system, in the presence of operator or sensor failures. The dynamica...

Precise models of the robot inverse dynamics allow the design of significantly more accurate, energy-efficient and more compliant robot control. However, in some cases the accuracy of rigidbody models does not suffice for sound control performance due to unmodeled nonlinearities arising from hydraulic cable dynamics, complex friction or actuator dynamics. In such cases, estimating the inverse d...

This paper deals with motion planning for a mobile robot moving on a hilly three dimensional terrain and subjected to strong physical interaction constraints. The main contribution of this paper is a planning method which takes into account the dynamics of the robot, the robot/terrain interactions, the kinematic constraints of the robot, and classical constraints. The basic idea of our method i...

The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulat...

(FFNN) is used to compensate for the robot dynamics. The FFNN computes the required torques to drive the robot manipulator to achieve desired tracking. The stability of combined PI kinematic and FFNN computed torque is proved by Lyapunov theory. Simulation results are carried out for 3 DOF articulated robot manipulator to evaluate the controller performance.

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called ”RollRoller”. Robot’s mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling parts to correspond movements. Our robot gets its motivation force by displacing the spherical movable mass known as core in curvy manners inside certain pipe...