in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

In master slave teleoperation schemes operated by humans, the interface with which the user interacts plays a key role. In this work an interface based on inertial sensors with applications for unilateral master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm to obtain acceleration and turning ...

In order to identify the dynamic parameters in nonlinear adaptive control the robot's dynamic equation has to be written in a linear form. Many methods have been proposed for serial robots, but for parallel robots, the few solutions proposed so far lead to complicated equations that are not readily usable for real-time implementation. In this paper we propose a new method based on the virtual w...

gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

In this study, a Fractional-Order Sliding Mode Control scheme is proposed for trajectory tracking control of Delta parallel robot. The controller compared with both integer-order Proportional-Derivative and Controller Computed Torque method. forward kinematics, inverse kinematics dynamic robot are described. A Solidworks/Matlab/SimScape/Multibody model generated used parameter estimation valida...