This paper addresses the position control problem for robot manipulators. We present three new controllers with bounded actions supported by a rigorous stability analysis including the robot dynamics in the closed–loop using Lyapunov’s direct method and the LaSalle’s invariance principle. Besides the theoretical results, the performance of proposed controllers is illustrated by experimental res...

The kinematics of robot manipulators is a corner stone in the study of robotics in general. The computational complexity of the kinematics quite often prevents robotics instructors from using robots of general structure in their illustrative examples and assignments. The software discussed in this article, developed from recent research to support an undergraduate course in robotics, offers com...

A robot arm/manipulator finds its applications in variety of areas to takeaway the processes which are repetitive, highly multifaceted and perilous, destructive or of high-precision in its nature. Robot manipulators are intended to use in object sorting applications because of its high accuracy and precision operation. Robot manipulator shows many advantages when it is networked and automated w...

In this paper, conventional global and local indices – structural length index, manipulability measure, condition number and Global Conditioning Index (GCI) – have been examined for the workspace optimization of the sixteen fundamental robot manipulators classified by B. Huang and V. Milenkovic [Kinematics of major robot linkages, Robotics International of SME 2 (1983) 16–31]. To find the optim...

We present a framework for sensor-based motion planning of robotic manipulators using a topology representing network (TRN). Exploiting the perfectly topology preserving features of the network, the algorithm learns the representation of the Perceptual Control Manifold (PCM), a recently introduced concept for motion planning. This concept allows sensors to be integrated into robot motion planni...

A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control...

cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simu...

ABSTRACT Formulating the suitable mathematical models and deriving the efficient algorithms for a robot kinematics mechanism are very crucial for analyzing the behavior of industrial robot manipulators. Direct kinematics that determines the Cartesian position and orientation of the end-effector for the specified values of joint parameters is generally performed using homogenous transforms. In t...

A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to ...

The present paper attempts to systematically identify the significant factors influencing the dynamic performance of robot manipulators. Two 3-RRR robot configurations planar and articulated arms are considered here to study. The robots kinematic and dynamic models are symbolically formulated. A simulation program has been developed to measure the dynamic performance of the robot manipulators u...