The subject of this paper is a programmable con trol system for robotic manipulator. Considering the complex nonlinear dynamics involved in practical applications systems and arms, traditional control method here replaced by designed Elma adaptive radial basis function neural network—thereby improving stability response rate. Related controllers compensators were developed trained using MATLAB-...

Unidirectionally coupled phase oscillators in a ring are simple structures but unsuitable for application central pattern generators (CPGs) six-legged walking due to coexisting stable synchronization patterns. This paper shows that the can be applied CPG by utilizing non-periodic signal generator as clock. The clock-driven implemented sequential logic circuit using field programmable gate array...

This paper describes a type of mobile robot with a spherical shape designed to act as a platform to carry sensing devices or actuators in an environment where the conditions are harsh and the stability of the mechanical platform is critical. A remotely controlled internal unit drives the spherical robot. The paper focuses on the design and motion control of a robot with a spherical shape. The d...

This paper presents a general approach to the acquisition of sensor-based robot skills from human demonstrations. Since human-generated examples cannot be assumed to be optimal with respect to the robot, adaptation of the initially acquired skill is explicitly considered. Results for acquiring and reening manipulation skills for a Puma 260 manipulator are given.

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

This article presents an architecture based on FPGA for the calculation of texture attributes using an adequacy of the technique of sum and differences of histograms. The attributes calculated by this architecture will be used in a process of classification for identification of objects during the navigation of an autonomous robot of service. Because of that, the constraint of real-time executi...

This paper describes the design and development of harvesting system for the gantry system to harvest eggplants. For this purpose, the harvesting robot was successfully designed and fabricated for the gantry system to harvest eggplants. The operation of the harvester was controlled by Programmable Logic Controller (PLC). Basically, the limit switches, DC motor, and relay are connected to the PL...

In this paper, a real-time implementation of sliding-mode control (SMC) in hardware-in-loop architecture is presented for robot with two degrees freedom (2DOF). It based on discrete-time recurrent neural identification method, as well the high performance obtained from advantages architecture. The process uses high-order network (RHONN) trained modified extended Kalman filter (EKF) algorithm. T...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...