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....

Abstract: A multi-variable Golden-Section adaptive controller is proposed for the tracking control of robotic manipulators with unknown dynamics. With a small sample time, the unknown dynamics of the robotic manipulator are denoted equivalently by a characteristic model of a 2-order multivariable time-varying difference equation. The coefficients of the characteristic model change slowly with t...

This paper addresses the problem of formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of th...

In this paper we describe mechanical and electronic design of a precision, 2-DOF robot manipulator. The manipulator is one of a wide variety of modular robotic agents in the minifactory, a rapidly depoyable precision assembly system under development in our laboratory. The manipulator, in cooperation with another type of 2-DOF robot, termed a courier, can perform 4-DOF assembly operations emula...

This paper proposes performance tuning methods for a PID controller for a robotic manipulator. The design procedures of an inverse optimal PID control method employed to assure extended disturbance input-to-state stability (ISS) are suggested. The performance tuning methods for an inverse optimal PID control are derived from the performance limitation and the bounds of the state vector. Also, t...

This technical note deals with the way of organizing the work of a manipulator on a mobile robot. Every robotic mission is composed of several navigation and manipulation operations. In this research, the robot arm actions have been sequenced, once the mobile robot has stopped, with the help of the graphical specification tool Grafcet. The proposed method has been successfully implemented in th...

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 this paper, a novel methodology for estimating the parameters of robotic manipulator systems is proposed. It can be seen that, purpose parameter estimation, input torque to each joint motor designed as linear combination sinusoids. After transient responses angles exponentially converge zero, steady states angle outputs extracted. Since are equivalent finite Fourier series, coefficients stat...