This paper proposes an adaptive terminal sliding mode controller which combines adaptive control and sliding mode control to control a 2-link nonlinear robotic manipulator with uncertain parameters. We use an adaptive algorithm based on the concept of sliding mode control to alleviate the chattering phenomenon of control input. Adaptive laws are developed to obtain the gain of switching input a...

Common robotic tracking tasks consist of motions along predefined paths. The design of time-optimal path-constrained trajectories for robotic applications is discussed in this paper. To increase industrial applicability, the proposed method accounts for robot kinematics together with actuator velocity, acceleration and jerk limits instead of accounting for the generally more complex dynamic equ...

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of...

Mobile manipulators are of high interest to industry because of the increased flexibility and effectiveness they offer. The combination and coordination of the mobility provided by a mobile platform and of the manipulation capabilities provided by a robot arm leads to complex analytical problems for research. These problems can be studied very well on the KUKA youBot, a mobile manipulator desig...

We report an experimental highdelity system for making psychophysical measurements on human operators performing real, virtual, and real-remote 3D haptic manipulation tasks. Operators interact with task environments through six-degree-of-freedom (6-DOF) Lorentz magnetic levitation haptic devices. This arrangement allows the operator to exert and experience real, virtual, and real-remote forces/...

In this paper, we study the differential kinematics and the kineto-static manipulability indices of multiple cooperating robot arms, including active and passive joints. The kinematic manipulability indices are derived extending previous results on cooperating robots without passive joints. The force manipulability analysis for cooperative robot systems cannot be straightforwardly derived by “d...

this paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. the proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. this kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

The fundamental difference between autonomous robotic assembly and traditional hard automation, currently utilized in large-scale manufacturing production, lies in the specific approaches used in locating, acquiring, manipulating, aligning, and assembling parts. An autonomous robotic assembly manipulator offers high flexibility and high capability to deal with the inherent system uncertainties,...

Abstract. Several robotic system applications require manipulators to carry heavy payloads while operating from moving vehicles. These manipulators are mounted on moving/compliant bases, introducing additional degrees of freedom that are not actuated, increasing the complexity of the dynamic modeling and control. In this paper, a control strategy to improve the performance of mobile robotic man...

Faults in robotic manipulators can cause economic losses and serious damages. In this paper, two artificial neural networks are employed to provide FDI to robotic manipulators. The first is a multilayer perceptron trained with backpropagation utilized to reproduce the dynamic of the manipulator and, so, generate the residual vector. The second is a radial basis function network employed to clas...