We consider nonholonomic mobile manipulators built from an na joint robotic arm and a nonholonomic mobile platform with two independently driven wheels. Actually, there is no efficient kinematic formalism for these systems which are generally characterized by their high number of actuators. So, kinematic modelling is presented with particular emphasis on redundancy. Whereas kinematic redundancy...

Data-Driven Approaches for Sensing and Control of Robot Manipulators by Cong Wang Doctor of Philosophy in Engineering Mechanical Engineering University of California, Berkeley Professor Masayoshi Tomizuka, Chair In a sensing rich system, a large amount of data can be obtained over time and utilized to improve the performance and functionality of a robotic system. Data-driven approaches emphasiz...

This paper introduces an adaptive sliding mode controller design based on fuzzy compensation for efficient robotic manipulator tracking control. work of Adaptive Fuzzy Controller control principles Robotic Manipulators. In the work, algorithm is proposed robot manipulators. The system uses a set rules, parameters which are modified in real-time by laws, to approximate unknown nonlinearities. ma...

Exponentially stable trajectory following of robotic manipulators under a class of adaptive controls. In this paper we investigate the problem of fault diagnosis in rigid-link robotic manipulators. A learning architecture, with neural networks as on-line approximators of the oo-nominal system behavior, is used for monitoring the robotic system for faults. The approximation of the oo-nominal beh...

We present a framework for sensor-based motion planning of robotic manipulators using a topology representing network (TRN). Exploiting the perfectly topology preserving features of the network, the algorithm learns the representation of the Perceptual Control Manifold (PCM), a recently introduced concept for motion planning. This concept allows sensors to be integrated into robot motion planni...

Abstract: A multi-variable Golden-Section adaptive controller is proposed for the tracking control of robotic manipulators with unknown dynamics. With a small sample time, the unknown dynamics of the robotic manipulator are denoted equivalently by a characteristic model of a 2-order multivariable time-varying difference equation. The coefficients of the characteristic model change slowly with t...

The pervasiveness of computers in everyday life coupled with recent rapid advances in computer technology have created both the need and the means for sophisticated Human Computer Interaction (HCI) technology. Despite all the progress in computer technology and robotic manipulation, the interfaces for controlling manipulators have changed very little in the last decade. Therefore Human-Computer...

Abstract: The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all, the kinematics and Jacobian for the robotic manipulators are determined through different approaches; secondly, objective functions mode...

In this paper, we study the fixed-camera visual servoing consensus problem of multiple robotic manipulators with uncertain robotic dynamics, kinematics and camera parameters. Our control objective is to achieve image-space consensus without the measurements of visual velocity. The communication topology is assumed to be directed graphs containing a spanning tree. A novel decentralized image-spa...