Robot manipulators are now used in various domains and environments, where they can be subjected to random vibrations. Random vibrations mainly affect the torque control signal, a controller is therefore required designed for stabilization purposes. However, security or intellectual property protection reasons, most commercialized robots manufactured with unknown inaccessible interface such tha...

space 1 The space of twist Joint space The space of wrench (6) jT T T J ~ ( = J KI Ii) I ' * 1 v torque space 1 Figure 2.6: Transformation from Task Domain to Joint Domain where each column of J is the image in abstract space of the corresponding column of the Jacobian J . Thus. the base of the joint variable space is: and the base of the joint torque space is: Because J is a matrix defined in ...

In this paper, adaptive neural network control of robot manipulators in the task space is considered. The controller is developed based on a neural network modeling technique which neither requires the evaluation of inverse dynamical model nor the time-consuming training process. It is shown that, if Gaussian radial basis function networks are used, uniformly stable adaptation is assured, and a...

The present paper shows a systematic approach to modeling and control mobile manipulators that transforms the problem to the modeling of a stationary manipulator stationary with nonholonomic kinematic constraints on the joints. The task-space control consists in an internal compensator of the dynamics of the mobile manipulator and an external proportional–derivative (PD) control with feed-forwa...

We propose a hybrid approach to motion planning for redundant robots, which combines a powerful control framework with a sampling-based planner. We argue, that a suitably chosen task controller already manages a huge amount of trajectory planning work. However, due to its local approach to obstacle avoidance, it may get stuck in local minima. Hence, it is augmented with a globally acting planne...

Previous studies on sequential effects of human grasping behavior were restricted to binary grasp type selection. We asked whether two established motor control strategies, the end-state comfort effect and the hysteresis effect, would hold for sequential motor tasks with continuous solutions. To this end, participants were tested in a sequential (predictable) and a randomized (nonpredictable) p...

The designs of applications for multilevel systems cannot merely duplicate those of the untrusted world When applications are built on a high assurance base they will be constrained by the underlying policy en forcement mechanism Consideration must be given to the creation and management of multilevel data struc tures by untrusted subjects Applications should be de signed to rely upon the TCB s...