This paper presents a new method to control of robot manipulator in task space. In the proposed control method, a combination of feedback linearization, sliding mode control and first-order TSK fuzzy system has been utilized. In this method, the bounds of structural and non-structural uncertainties by using feedback linearization method are reduced and to overcome the remaining uncertainties, s...

This research presents a dynamic level control algorithm to meet simultaneously multiple desired tasks based on their allocated priorities for redundant robotic systems. It is shown that this algorithm can be treated as a general framework to achieve control over the whole body of the robot. The control law is an extension of the well-known acceleration based control to redundant robots, and co...

Abstract This paper proposes a robotic manipulation task relaxation method applied to and motion planning framework adapted from the literature. The consists of defining regions interest instead end-effector pose, which can potentially increase robot’s redundancy with respect task. Tasks are relaxed by controlling distance target plane while respecting suitable constraints in task-space. We for...

Controllers for parallel manipulators can be designed in task space or joint space, each having its own advantages and disadvantages. In this paper, integral sliding mode controllers designed in joint space and in task space are compared using MATLAB simulation. In both cases, genetic algorithm is used to determine optimal sliding surface gain. The performance and robustness, smoothness of cont...

The operational space formulation (Khatib, 1987), applied to rigid-body manipulators, describes how to decouple task-space and null-space dynamics, and write control equations that correspond only to forces at the end-effector or, alternatively, only to motion within the null-space. We would like to apply this useful theory to modern humanoids and other legged systems, for manipulation or simil...