In this paper, a new robust robot force tracking impedance control scheme that uses neural network as a compensator is proposed. The proposed neural com-pensator has the capability of making the robot to track a speciied desired force as well as of compensating for uncertainties in environment location and stiiness, and the uncertainties in robot dynamics. The neural compensator is trained sepa...

To achieve multiple obstacle avoidance tasks consisting of zero-space and terminal with self-avoidance permission, we propose an algorithm for dual-arm robots. First, design a self-obstacle gradient optimization function to implement the task between two arms robots by using pseudo-distance as basis collision judgment. Second, is implemented applying adaptive velocity. Third, realized virtual r...

In this paper, a new robust feedback controller for trajectory control of n-link robot manipulators under parametric uncertainties is suggested. The proposed controller using dynamic compensation scheme leads to improvement in the transient response and fast convergence of tracking error to a neighborhood of zero in the steady-state. The uniformly ultimate boundedness of the closed-loop system ...

A composite robust control scheme is proposed by combining a sliding mode controller with an adaptive fuzzy control algorithm to control a 3-DOF underactuated underwater vehicle with model parameter perturbations and environmental disturbances based on the backstepping control method and the Lyapunov stability theory. The adaptive fuzzy control algorithm is employed to compensate for model para...

Space robots having manipulators are expected to work in future space missions (Xu & Kanade, 1993). Since it is difficult to supply fuel to the robots equipped with rocket motors during manipulation, control methods for free-floating space robots consisting of a base and a manipulator have been proposed (Dubowsky & Papadopulos, 1993; Masutani et al., 1989a;b; Sagara et al., 1998a;b; Shin et al....

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

This study presents a comparison of different control laws for the trajectory control of a revolute-jointed manipulator. For this purpose, adaptive, robust and sliding mode control algorithms are applied to the model system so as to reduce tracking error at each joint. It is assumed that robot parameters are not known exactly and the system includes some uncertainties and disturbances. Computer...

In this paper, application of an adaptive control scheme to a cooperating robotic system consisting of two 5 DOF (RRRRR) robot manipulators is proposed. The considered dual system is used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematics problems are solved for the dual arm system. The dynamic equ...

Received Mar 30, 2013 Revised Aug 15, 2013 Accepted Aug 29, 2013 In this paper, two types of robust adaptive compensation control schemes for the trajectory tracking control of robot manipulator with uncertain dynamics are proposed. The proposed controllers incorporate the computed-torque control scheme as a nominal portion of the controller; an adaptive fuzzy control algorithm to approximate t...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...