Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...

The overwhelming complexity of the deburring process and imprecise knowledge about robot manipulators leads to a certain control problem. In this paper, a new design of hybrid position/force control of robot manipulators via adaptive fuzzy control approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine ...

This paper presents a new neuro-fuzzy controller for robot manipulators. First, an inductive learning technique is applied to generate the required modelling rules from input/output measurements recorded in the off-line structure learning phase. Second, a fully differentiable fuzzy neural network is developed to construct the inverse dynamics part of the controller for the on-line parameter lea...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

− This paper discusses dynamic visual servoing and proposes a position-based approach to visual servo control of robotic manipulators. Several dynamic visual servoing control architectures used for position-based are addressed in this paper, in order to motivate the proposed approach. In position-based visual servoing, the features used to control the robot manipulator, actual pose of the objec...