Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

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...

Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven robots (CDRRs) are relatively newer their control strategies have evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space configurability. In this paper, we cat...

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...

The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, and this nonlinear problem is a great challenge in precise position control during the surgical procedure. Previous studies mainly focused on the transmission characteristics of the cable-driven system and construc...

Cable-driven parallel robots are mechanisms that control the position and attitude of an object using multiple cables. Typical cable-driven have been studied for use on land, but not in water. This is because motion analysis become difficult underwater due to large deformation cables caused by fluid forces. In this paper, we propose robot consisting on-water derive a dynamics model considers ca...

The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may b...

Abstract. Cable-driven parallel robots are a type of manipulators where rigid links replaced by actuated cables. Although in many cases dynamic models that neglect the cables mass and elasticity employed to simulate robot behavior test control approach be used, there several situations which their effect cannot disregarded, especially when large span cable density generates important sagging. T...

Cable-driven parallel robots can have a much larger workspace than other with rigid links or conventional serial robots. This property comes at the cost of more complex calculations and control schemes that are necessary to account for elasticity unilateral force transmission their cable links. In practice, most cable-driven cannot achieve full is predicted by theoretical models. due calibratio...

In this article, new techniques and technologies have been tried and tested in the installation and commissioning of Roller Home industrial robots, in order to produce a Tiba car with a focus on cost reduction. Due to the fact that press equipment for automobile parts requires a lot of expenses, it was decided to use robots with the same function of roller to reduce costs and increase the q...