A robot is generally considered as a physical machine which can move around, operate a mechanical limb and exhibit intelligent and autonomous behavior in public. However, a surgical robot is not like the common robots which have the ability of autonomous action. A surgical robot is a collection of manipulators which just follow the surgeon’s hand motions. The manipulators of a surgical robot re...

Widely used robot systems have a rigid base structure that limits the interaction with their environment. Due to inflexible attachment points, conventional robotic structures can only manipulate objects special gripping system. It be difficult for these grasp different shapes, handle complex surfaces or navigating in heavily crowded Many of species observed nature, like octopuses are able perfo...

The presence of flexibilities in rotational joints can limit the kinematic performances manipulators doing high speed tasks as Pick and Place. problem addressed this work concerns vibration control serial robots with flexible performing Place order to improve productivity. Based on a dynamic model robot joints, model-based law is proposed its associated tuning methodology. then key point our Th...

Although methods about building fish-like robots have attracted much research in recent years, new techniques are still required for developing superior robot fish. This paper presents a novel robot fish propelled by an active compliant propulsion mechanism. The key innovation is the combination of an active wire-driven mechanism with a soft compliant tail to accomplish subcarangiform swimming ...

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analy...

In order to apply the terminal sliding mode control to robot manipulators, prior knowledge of the exact upper bound of parameter uncertainties, and external disturbances is necessary. However, this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot. To resolve this problem in robot control, we propose...

Based on a combination of a PD controller and a switching type two-parameter compensation force, an iterative learning controller with a projection-free adaptive algorithm is presented in this paper for repetitive control of uncertain robot manipulators. The adaptive iterative learning controller is designed without any a priori knowledge of robot parameters under certain properties on the dyna...

| This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augmentedwith adaptation laws to compensate for parametric uncertainties in the system dynamics. Acc...

A dual neural network is presented for the real-time joint torque optimization of kinematically redundant manipulators, which corresponds to global kinetic energy minimization of robot mechanisms. Compared to other computational strategies on inverse kinematics, the dual network is developed at the acceleration level to resolve redundancy of limited-joint-range manipulators. The dual network ha...

In digital computer based controllers, efficient sampling mechanisms for sensors as well as controllers is of great importance. In this paper, we are interested in designing controllers that result in low average frequency of control updates while simultaneously ensuring stability of the robotic system. We experimentally investigate a non-periodic state-triggered control sampling scheme (design...