Basic Knowledge of Robot Motion Control

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Adaptive Fuzzy Knowledge Based Controller for Autonomous Robot Motion Control

Problem statement: Research into robot motion control offers research opportunities that will change scientists and engineers for year to come. Autonomous robots are increasingly evident in many aspects of industry and everyday life and a robust robot motion control can be used for homeland security and many consumer applications. This study discussed the adaptive fuzzy knowledge based controll...

Robot Motion Control

This paper considers the problem of the robot motion control in the presence of the major uncertainties such as it is varying load. Efficiency of one conventional and two soft computing model based control algorithms is investigated and compared trough the results of application on a direct drive robot. First control algorithm is a conventional computed torque based on the Lagrangian dynamic eq...

Motion Control of Robot Manipulators

Knowledge-based Robot Control

The paper is related with the problem of developing autonomous intelligent robots for complex environments. In details it outlines a knowledge-based robot control architecture that combines several techniques in order to supply an ability to adapt and act autonomously in complex environments. The described architecture has been implemented as a robotic system that demonstrates its operation in ...