Model-based controllers have successfully been applied to many electrically driven robotic manipulators to improve their tracking performance. The application to hydraulically actuated systems however is not straight forward, due to the nonlinear internal dynamics of the actuators. This paper presents the modelling of an experimental hydraulic robot arm and the implementation of a cascaded cont...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

Learning control for robotic manipulators has been developed over the past decade and to the best of the authors’ knowledge, it is still in its infant development stage; the authors believe that it will become one of the most promising directions in the control area in robotic manipulators. Learning control in robotic manipulators is mainly used to address the issue that the friction at the joi...

In this paper, the q-analogue of Bernstein-Schurer-Stancu operator is proposed for uncertainty approximation in adaptive control cooperative electrically driven manipulators. Thanks to simplicity comparison with other alternatives, number signals needed construction regressor vector reduced considerably. Studying accuracy model-free observers on robot manipulators one motivations paper. Therefo...

Parallel manipulators are robotic devices that differ from the more traditional serial robotic manipulators by their kinematic structure. Parallel manipulators are composed of multiple closed kinematic loops. Typically, these kinematic loops are formed by two or more kinematic chains that connect a moving platform to a base, where one joint in the chain is actuated and the other joints are pass...

This short note points out an improvement on the robust stability analysis for electrically driven robots given in the paper. In the paper, the author presents a FAT-based direct adaptive control scheme for electrically driven robots in presence of nonlinearities associated with actuator input constraints. However, he offers not suitable stability analysis for the closed-loop system. In other w...

This short note points out an improvement on the robust stability analysis for electrically driven robots given in the paper. In the paper, the author presents a FAT-based direct adaptive control scheme for electrically driven robots in presence of nonlinearities associated with actuator input constraints. However, he offers not suitable stability analysis for the closed-loop system. In other w...

By using the integrator backstepping technique, the control of rigid link, electrically driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance of the derivative computation of the regressor matrix. Semiglobal asymptotic stability of the con...

A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DO’s, which are designed or analyzed b...

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...