At present, robotic manipulators are commonly used in manufacturing industry. In many cases, their end-effectors are required to move from one place to the other and follow some desired trajectories. This paper develops a nonlinear backstepping control design scheme with velocity observers for the trajectory tracking control of robotic manipulators. In fact, most of robot manipulator controller...

In robot-assisted teleoperated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators, operated by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback could enhance the surgical procedures by providing a palpable sense of the environment as a function of surgeon’s hands movemen...

This paper deals with control of parallel manipulators for very high acceleration tasks including two case studies. The first one is the case of non-redundant parallel manipulators, where we are interested in control of PAR2 robot for 2D pick-andplace trajectories following. The proposed control scheme in this case is a nonlinear dual mode adaptive controller complied with a high gain state obs...

[32] Nader Sadegh and Roberto Horowitz. Stability and robustness analysis of a class of adaptive controllers for robotic manipulators. [40] John T. Wen and David S. Bayard. Robust control for robotic manipulators part ii: Adaptive case. Comparative experiments with a new adaptive controller for robot arms.

This paper presents a systematic load identification procedure for a class of parallel robot manipulators. It is considered as a regular dynamic robot identification problem since the load is rigidly fixed on the robot-platform. The challenge is that the estimation must be based only on the measurements obtained through sensors in the robot actuators. The load identification procedure is exempl...

In this paper, we present a method for programming robust, reusable and hardware-abstracted robot skills. The goal of this work is to supply mobile robot manipulators with a library of skills that incorporate both sensing and action, which permit robot novices to easily reprogram the robots to perform new tasks, as well as provide a more clear mapping between human and robot actions. Critical t...

A hybrid control scheme based on adaptive visual servoing and direct force control is proposed for robot manipulators to perform interaction tasks on smooth surfaces. The camera parameters, as well as the constraint surface, are considered to be uncertain. A fixed camera with optical axis non-perpendicular to the robot workspace is used for position control, while a force sensor mounted on the ...

The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point within the workspace of any serial manipulator is considered an important problem. Such studies are required for designing trajectories to avoid singular configurations. In this paper, a new method for measuring the ma...

Over the past several years, there has been a rapidly expanding interest in the the study and construction o,f a new class of robot manipulators which utilize high degree of freedom, or continuous, backbone structures. I n this paper, we consider and illustrate some basic properties of a class of “hyper-redundant” robots, known as “continuum” robots. W e base our analysis around remotely-driven...

We present a novel approach to mobile object manipulation for service in indoor environments. Current research in service robotics focus on single robots able to move, manipulate objects, and transport them to various locations. Our approach differs by taking a collective robotics perspective: different types of small robots perform different tasks and exploit complementarity by collaborating t...