The robust control and active vibration control for free-floating space flexible manipulator with parameter uncertainties are studied. The dynamic equations of the system are developed by using the Lagrangian assumed modes methods, it is verified that the dynamic equation can be linearly dependent on a group of inertial parameters. Based on the results and under the assumption of two-time scale...

A general framework is presented for the design and analysis of cobot controllers. Cobots are inherently passive robots intended for direct collaborative work with a human operator. While a human applies forces and moments, the controller guides motion by tuning the cobot’s set of continuously variable transmissions. In this paper, a path-following controller is developed that steers the cobot ...

Space robots are an effective resource for astronauts working in a dangerous space environment. This paper proposes and implements a system to validate the performance of robot movement in space. A humanoid robot was designed with a vision-based self-calibration and navigation system. In addition, a path planning method was proposed to minimize joint torque. Simple gravity-compensation equipmen...

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task spac...

Many contact tasks are more easily deened in terms of constraint equations (and therefore constraint coordinates), rather than either Cartesian or joint coordinates. Deburring and grinding are examples of two such tasks. Hybrid Impedance control has been a popular force control algorithm for these tasks. This paper gives a procedure to specify orthogonal subspaces in constraint coordinates. It ...

This paper compares the heuristic Global Search Techniques; Genetic Algorithm, Particle Swarm Optimization, Simulated Annealing, Generalized Pattern Search, genetic algorithm hybridized with Nelder–Mead and Generalized pattern search technique for tuning of fuzzy PID controller for Puma 560. Since the actual control is in joint space ,inverse kinematics is used to generate various joint angles ...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

This article presents a novel on-line optimal control for tracking tasks on robot manipulators for which inverse kinematics is not required. The controller is composed by a stabilization Cartesian PID control plus a joint space optimal control, which is in charge of improving tracking performance. The joint space dynamic optimal control is based on the gradient flow approach with the robot dyna...

This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding m...

In this report, we discuss adaptive control of a space robot system with an attitude controlled base on which the robot is attached. We at first derive the system kinematic and dynamic equations based on Lagrangian dynamics and linear momentum conservation law. Using the dynamic model developed, we discuss the problem of linear parameterization in t m s of dynamic parameters, and have found tha...