Title Type neural network control of robot manipulators and non-linear systems series in systems and control PDF flexible robot manipulators modelling simulation and control control engineering series PDF modelling and control of robot manipulators advanced textbooks in control and signal processing PDF control of robot manipulators in joint space advanced textbooks in control and signal proces...

In this paper to address a signed distance fuzzy sliding-mode control (SDFSMC) architecture which integrates cerebellar model articulation controller (CMAC). The proposed control consists of the SDFSMC and a feedforward compensation with modify CMAC network which to control the dynamics of the nonlinear systems with unknown structured nonlinearities without requiring a priori knowledge of the s...

The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key feature of this control law is that, for their implementation, there is no need to perform an online optimi...

This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...

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...

Obtaining optimum energy performance is the primary design concern of any mechanical system, such as ground vehicles, gear trains, high speed electromechanical devices and especially industrial robot manipulators. The optimum energy performance of an industrial robot manipulator based on the minimum energy consumption in its joints is required for developing of optimum control algorithms (Delin...

State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made manipulators mounted on fixed base. Focusing orthogonal point-to-surface impacts (no tangential velocities), revisit two main elements of an model: the contact-force model and inverse inertia matrix. We collect...

this paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. a novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. parameters of the fuzzy estimator are adapted to minimize the estimat...

In this paper we have proposed an evolutionary method to optimize the task time of robot manipulators. Tasks can be planned in joint space with respect to robot joints or in Cartesian space with respect to robot end effector under kinodynamic constraints. Genetic algorithm is implemented to optimize the parameters associated with the selected motion trajectory profile. These optimized results w...

As has been realized, the flexible-link manipulators have attracted more and more attention from robot control theorists and/or robot users because of its various potential advantages. But since the control degree-of-freedom is much less than that of the system, many control strategies which succeed in the conventional rigid robot control cannot be directly used in the flexible robot control pr...