Spatial Mechanisms and Robot Manipulators

An Adaptive Impedance Controller for Robot Manipulators

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

Adaptive RBF network control for robot manipulators

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...

Analytic Geometric Design of Spatial R-r Robot Manipulators

This paper studies the geometric design of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require the positioning of the end-effector in three spatial locations. This research is important in situations where a robotic manipulator or mechanism with a small number of joint degrees of freedom is designed to perform higher degree of free...

Commercial Robot Manipulators • Commercial Robot

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...