A high level of positioning accuracy is an essential requirement in a wide range of industrial robots’ applications. Robot calibration is a process by which robot positioning accuracy can be improved. During a manipulator control system design, and periodically in the course of task performing, manipulator geometry calibration is required. Nowadays robot calibration plays an increasingly import...

We describe a robotic system composed of a manipulator and two cameras. We use the vision system to guide the robot hand to a visible target. The camera positions are known only approximately. Our system does not use the details of the kinematics of the manipulator. There is no common frame of reference linking vision system, workspace and robot hand. The stereo vision system gives information ...

Mobile manipulators have been given extensive attention in recent years since they have many applications such as materials transport and service for disabled persons. A mobile modular manipulator is normally composed of an m-wheeled mobile platform and an n-degree-of-freedom (DOF) onboard modular manipulator. This combination extends the workspace of the entire robot dramatically. Building up ...

one of the most important challenges in nonlinear, multi-input multi-output (mimo) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. this paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. the sliding mode fuzzy controller (smfc) was designed as 7 rules mamdani’s infer...

in this paper, a robust integral of the sign error (rise) feedback controller is designed for a rigid-link electrically driven (rled) robot manipulator actuated by direct current dc motor in presence of parametric uncertainties and additive disturbances. rise feedback with implicitly learning capability is a continuous control method based on the lyapunov stability analysis to compensate an add...

a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point within the workspace of any serial manipulator is considered an important problem. Such studies are required for designing trajectories to avoid singular configurations. In this paper, a new method for measuring the ma...

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

In this paper, we propose a model based disturbance attenuator (MBDA) with the conventional PD controller for robot manipulators. It is a generalization of MBDA structure in [l] and is .applied to a robot manipulator which is nonlinear. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relativ...

The concept of a medical robot constructed by parallel mechanisms for chest compressions in rescuing a patient is proposed in this paper. In light of the requirements of cardiopulmonary resuscitation (CPR) from medical aspects, a new translational parallel manipulator employing the architecture of DELTA parallel robot is designed, which utilizes an architectural optimization methodology for suc...