To increase the mobility of on-orbit robotic systems, Space Free-Flying Robots (SFFR) in which one or more manipulators are mounted on a thruster-equipped base, have been proposed. Unlike fixedbased manipulators, the robotic arms of SFFR are dynamically coupled with each other and the freeflying-base, hence the control problem becomes more challenging. In this paper, the Multiple Impedance Cont...

in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...

The article discusses various solutions that exist in the field of remote control robotic devices equipped with manipulators. New approaches are presented for organizing joint telecontrol multiple manipulators using user inputs. following usage scenarios considered: architecture a system many and interfaces, including such promising areas as deep machine learning neural interfaces.

Abstract. Several robotic system applications require manipulators to carry heavy payloads while operating from moving vehicles. These manipulators are mounted on moving/compliant bases, introducing additional degrees of freedom that are not actuated, increasing the complexity of the dynamic modeling and control. In this paper, a control strategy to improve the performance of mobile robotic man...

Simulation is a powerful visualization, planning, and strategic tool in different areas of research and development. The simulation has also a very important role in robotics. In the paper we focus on different tools for the dynamic simulation of robot manipulators, especially on those based on MATLAB/Simulink or using general dynamic engines and graphic languages. We present and compare some t...

This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one o...

The 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 (RBF network) as an uncertainty estimator. The ...

Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject external interaction, potentially leading poor control performance. In this letter, we investigate the feasibility of adopting a model-free multiagent reinforcement learning (RL), namely deep Q network (MADQN), 2-degre...