The setpoint regulation problem for robotic manipulators is a basic task that can be solved either by PID control or by model-based gravity compensation. These approaches are commonly applied both to rigid arms and to robots with flexible links and/or elastic joints. However, PID control requires fine and lengthy tuning of gains in order to achieve good performance over the whole workspace. Mor...

In this paper, a combined adaptive-robust and neural network control based on backstepping design is proposed for trajectory tracking of two 6-DOF rigid link electrically driven (RLED) elbow robot manipulators moving a rigid object when actuator dynamics is also considered in the system dynamics. First, the authors derive kinematics and dynamics of the mechanical subsystem and the relations amo...

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information includin...

We propose an automatically deployable robust control scheme for modular reconfigurable robot manipulators, which accounts noisy velocity measurements, yet it maximizes the tracking performance while avoiding chattering effects. Our proposed approach adapts to any of possible compositions given sets modules. The stability is guaranteed by exploiting use a recursive Newton-Euler with interval ar...

In recent years, establishing more and more explicit, complete and accurate dynamic models for the special category of flexible link manipulators has been a formidable challenging and still open problem in robotics research. This chapter is devoted to a methodological presentation of the application of Timoshenko beam (TB) theory (TBT) concepts to the mathematical description of flexible link r...

Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot m...

This paper presents an analysis and design method for human/robot integrated systems, especially for the coordination of human and robot formations based on a group of distributed mobile manipulators. The key for the human/robot integrated system is to create a common motion reference that can be understood by both human and the robots in the formation. First, the perceptive reference frame is ...