In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

Electrically-mediated actuation schemes offer great promise beyond popular pneumatic and suction based ones in soft robotics. However, they often rely on bespoke materials manufacturing approaches that constrain design flexibility widespread adoption. Following the recent introduction of a class architected called handed shearing auxetics (HSAs), we present 3D printing method for rapidly fabric...

The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their intrinsic elastic elements nonlinear force-deflection dependency. This letter first proposes discrete-time delayed unknown input-state observer based on nominal robot model that reconstructs the total torque disturbance vector, resulting from imperfect knowledge characteri...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

This research seeks to address a new integrated kinematic/dynamic adaptive Taylor series-based control design for the robust tracking of electrically-driven differential drive wheeled mobile robots (WMRs). includes two loops, namely outer loop (a kinematic law) and inner dynamic controller). Being capable compensating far initial conditions from desired trajectory, law is designed make posture ...

Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation wearable electronics to bioinspired robots operating unstructured environments. Due use soft materials, traditional fabrication manufacturing methods for rigid materials unavailable robots. 3D printing is a method multif...

this paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. the proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. this kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

in this paper, an optimal adaptive fuzzy integral sliding mode control is presented to control the robot manipulator position tracking in the presence of uncertainties and permanent magnet dc motor. in the proposed control, sliding surface of the sliding mode control is defined according to the information of position tracking error, derivatives, and error integral. in order to estimate bounds ...