Considering the dynamic model of an omnidirectional mobile robot (also known of a type (3,0)), in this work is addressed the Path-tracking control problem of this class of systems. The solution of the problem is obtained by considering some suitable modifications of the well known computed-torque control strategy usually used on the field of robot manipulators. The modifications considered in t...

Over the past several years, there has been a rapidly expanding interest in the study and construction of a new class of robot manipulators which utilize high degree of freedom, or continuous, backbone structures. In this paper, we consider some basic properties of these "continuum'' or "hyperredundant'' robots. We base our analysis around remotely-driven, tendon-actuated manipulators such as t...

The advantages of surgical robots and manipulators are well recognised in the clinical and technical community. Precision, accuracy and the potential for telesurgery are the prime motivations in applying advanced robot technology in surgery. In this paper a magnetic resonance compatible surgical assist robot design and construction are described. The robot is designed to position and direct an ...

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, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

In our previous work (2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2 singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of moti...

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...

In the control of robot manipulators, it is customary to assume that the eigenvalues of the inertia matrix are uniformly bounded from below and above. However, in this article it is shown that not all manipulators possess this property. The class of serial robot manipulators with bounded inertia matrix, referred to as class B D manipulators, is completely characterized and it is shown that it i...

In this paper, a novel off-line robot simulation package is developed for the industrial robot manipulators. The package allows interactive simulation of fundamental robot manipulators classified by Huang and Milenkovic [1]. The new package using Matlab Graphical User Interface (GUI) commands provides an interactive environment for serial-link robot manipulators. In the new package, there are s...

This paper considers finite-time position control of robot manipulators. The robot manipulators are modeled by discontinuous differential equations. In this paper, we prove that the Nakamura’s local homogeneous controller based on a control Lyapunov function is valid to the position control of the robot manipulators, and show the effectiveness of the controller by experiments. Moreover, we comp...