In this paper, a robust controller is developed for mobile manipulator (MM) to track reference position/force trajectories. Nonholonomic and holonomic constraints are considered the platform manipulator, respectively. Additionally, control design considers uncertainties in parameters of dynamics with bounded time varying additive disturbance (unmodelled effects, external disturbances). A Lyapun...

This paper discusses the control design of roboticassisted minimally invasive surgery (MIS) with haptic feedback. The operational space control has a position-position telemanipulation architecture with the phantom in the loop, enabling telepresence in free-space and contact. The null space control guarantees that surgical kinematic constraints are fulfilled. Both task and posture control run a...

cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

the intervention of urban design in irans architectural structures has been for many years a challenging issue for architects and urban designers over their professional realm. the preservation of architectural structures in iran has always resorted to extremes. this control and direction has sometimes resulted in exclusion of architecture position and has sometimes, once faced with lack of pro...

the purpose of the present study was to examine the effects of self – control modeling , that is presenting moded to learner whenever they asked for it, on learning a timing task.twenty four right handed subjects (12 males, 12 females, aged 19-20) voluntarily participated in the study and were assigned randomly to two groups of self – control and yoked.the task was pressing the keys number 1, 4...