Currently, robot applications have been fast expanding to many areas such as entertainment, home task, security, medical care, etc. With an increasing robot demand, the development of highly reliable and low-cost robot control system has become a hot research field in recent years. However, most robot control system requires special interface design or suffers from complexity or high cost. This...

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....

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...

Dynamic motion taking advantage of inertia with a flexible-joint robot is useful for energy efficiency and rapid motions. However, it is difficult to control flexible joints considering the complexity of their dynamics. To overcome the problem in past studies, oscillator [1], attractor [2], and search tree [3] methods have been explored. Attractors and oscillators force trajectories to return t...

The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their intrinsic elastic elements nonlinear force-deflection dependency. This letter first proposes discrete-time delayed unknown input-state observer based on nominal robot model that reconstructs the total torque disturbance vector, resulting from imperfect knowledge characteri...

The robots are interacting with humans in various aspects. Safety issues are increased in various robot applications. Many robot arms have been introduced for safety. The passive compliance methods have faster and high reliability than active methods. In this paper, a new safety mechanism based on passive compliance is proposed. The variable stiffness joint employed spring and roller is economi...

In this paper a flexible software framework is presented, that allows for the easy configuration, modeling, simulation, and collision avoidance for the manipulators of a service robot. The configuration of the robot including the number of manipulators, their degrees of freedom, the corresponding Denavit-Hartenberg parameters, geometry, fieldbus parameters etc. can be specified easily in xml co...

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