A hyper-redundant manipulator has the advantage that it can be used in constraint space; however the control of hyper-redundant manipulator is difficult. This paper presents a concept of virtual link based two degrees of freedom (DOF) controller. With the proposed controller, manipulator of any number of links can be reduced to either a 2-link virtual manipulator or one real and one virtual lin...

The robot manipulator joint actuator dynamics and the payload variation are major factors that severely affect the overall dynamics and hence the tracking performance of the direct drives manipulator. This paper proposes a robust and computationally simple approach aimed at compensating the tracking error due to model uncertainty, actuator dynamics, and payload variation for the inverse dynamic...

This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse kinematics for the manipulator under study. The parallel singularities associated with the manipulator depend only on the orientation of the end-effector, and thus...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model....

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

A strategy to improve the performance of current commercial industrial robots is presented in this paper. This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot. The RCID is a small six degrees-of-freedom (DOF) high bandwidth force–impedance controlled parallel manipulator, developed at the School of Engin...

Underwater vehicles have been extensively applied to underwater intervention missions instead of human in recent years. As the crucial equipment of underwater vehicles, underwater manipulators typically play an important role in the underwater tasks. Generally, underwater manipulators are operated manually by human with remotely operated vehicles (ROVs). A KORDI ROV with a dual teleoperated man...

This paper presents a new formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment. Previous formulations of artificial potentials, for obstacle avoidance, have exhibited local minima in a cluttered environment. To build an artificial potential field, we use harmonic functions which completely eliminate local m...

The PAM robot arm is belonged to highly nonlinear systems where perfect knowledge of their parameters is unattainable by conventional modeling techniques because of the timevarying inertia, hysteresis and other joint friction model uncertainties. To guarantee a good tracking performance, robust-adaptive control approaches combining conventional methods with new learning techniques are required....