in this research optimal reconfiguration strategy of the improved srr reconfigurable mobile robot based on force-angle stability measure has been designed using genetic algorithm. path tracking nonlinear controller which keeps robot’s maximum stability has been designed and simulated in matlab. motion equations of the robot have been derived in parametric form by means of newton- euler, lagrang...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

in recent years many researches are carried out to develop robots for agricultural applications. one of the main steps in agricultural robot fabrication is the generation of guidance signals. the objective of this research was a feasibility study of ultrasonic sensors in generating guidance signals to determine the position and orientation of a mobile robot for greenhouse applications. a series...

– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method...

the problem of navigation among movable obstacles (namo) is to find a collision free path for a robot while the robot is able to manipulate and transfer some objects (if possible or needed) to clear its path toward the goal. namo is a np-complete problem and is in a class of motion planning problems that have dynamic environments. in this domain, an optimal plan for the robot can be defined wit...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...