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 above paper 1 presents the design of an adaptive/robust controller for uncertain electrically-driven robots with no velocity measurements. This note shows that the claim that velocity measurements are not required for control implementation is incorrect. This note addresses the adaptive/robust controller proposed in the above paper 1 by Su and Stepanenko for the position control of uncerta...

This paper develops a new Lyapunov recursive design for the tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty by taking a tracking performance into account. The tracking performance is evaluated by L2-gain from a torque level disturbance signal to a penalty signal for the tracking error between outputs of the manipulator and desired trajectories. The...