In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

Autonomous wheeled skid-steering mobile robot off-road trajectory tracking is focused on. According to the kinematics and dynamics analysis of the robot, a constraint of the robot motion is put forward. As uncertain disturbance factors exist during the robot off-road running, a novel fuzzy lateral control law is proposed, which makes the robot motion globally asymptotically stable. According to...

designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. for this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...

In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...

This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...

In 2006 a team of undergraduates, including ourselves, developed a software simulation of a two-wheel differential drive robot capable of exploring an unknown environment and building an internal map of its surroundings. This generated map could then be used by the virtual robot to find the shortest path to a target location. This simulation formed the basis of a project undertaken in the summe...