This paper proposes a population based adaptive tuning for dynamic position control of robot manipulators. The dynamic behavior of a robot manipulator is highly nonlinear, and the positional control is conventionally achieved by inverse dynamics feedforward and PID feedback controllers. The proposed method tunes the PID controller parameters using cross-entropy optimization to minimize the erro...

In this paper we study the control of redundant planar robotic manipulators using a switched (or hybrid) control scheme, focusing on manipulators with a degree of redundancy of one. We emphasize the eeectiveness of switched control systems with respect to stabilization and performance enhancement for this class of manip-ulators. We present a simulation study of logic{based switching control of ...

This paper presents a control strategy which allows a manipulator/ camera system to track objects with planar motion while simultaneously avoiding kinematic singularities by moving in directions along which the tracking task space is unconstrained. The projection of a cartesian manipulability gradient on these directions of motion is used to determine the magnitude and direction of the required...

1 IRCCyN: UMR CNRS 6596, Ecole Centrale de Nantes, Université de Nantes, Ecole des Mines de Nantes Abstract— Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. This pr...

ABSTRACT: This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators. First, the manipulators under study as well as their degeneracy conditions are presented. Then, an optimization problem is formulated in order to obtain their maximal regular dexterous workspace. Moreover, the sensitivity coefficients of the pose of the manipulator moving platform to variations in th...

Robot dynamics is required for simulation, control, analysis of robot motion planners and controllers. There are a number dynamic modelling investigations robots with the different approaches these mostly focus on link flexibility, joint friction or actuator dynamics. In addition to that studies present model without any attached linear torsion springs. this study, two-link rigid manipulator sp...

Abstract—This paper presents the trajectory tracking control of a spatial redundant hybrid manipulator. This manipulator consists of two parallel manipulators which are a variable geometry truss (VGT) module. In fact, each VGT module with 3-degress of freedom (DOF) is a planar parallel manipulator and their operational planes of these VGT modules are arranged to be orthogonal to each other. Als...

This paper presents analytical solutions for the forward displacement kinematics of the “31-12” fully parallel manipulator design. In this design, three points in the base platform are linked to one single point in the top platform, while two of the remaining top platform points are linked to a single point in the base. Neither the base nor the top platforms of the manipulator have to be planar...

By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is reformulated as a quadratic program (QP) with equality and bound constraints, which is then solve...