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...

Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulator that uses cables to control the position and orientation mobile platform or end effector. The use instead rigid links offers some advantages over their conventional counterparts. As can only pull but not push, number (n) required command end-effector is always n+1. This configuration known as fully-constrained, it m...

Ship cleaning is mainly done manually, which high operation risk and low work efficiency. For that, it proposed to apply the cable-driven parallel robot field of ship cleaning. The related research traditional focused on fixed base, largely ignores influence base motion its performance. Considering caused by wave excitation modeling accuracy, dynamic model system established Newton-Euler method...

Abstract Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at material level. An increasing number researchers are interested in designing, manufacturing, modeling, control. However, dynamic simulation soft is difficult infinite degrees freedom nonlinear characteristics that associated materi...

The paper deals with the conceptual design of cable-driven parallel robot which will be used for inspection and monitoring tasks in production process. reason need vision based control process is described introduction. Furthermore, mechanisms kinematic structure are described, as well their usage industry sports broadcasts. On that basis, there proposed cable driven (CDPR) desired task visual ...

An identi cation of the model parameters for a parallel cable-driven robot is performed by using both a calibration and a self-calibration approach. The manipulator studied is based on a parallel architecture having 8 cables to control the 6 degrees of freedom of its mobile platform so that the mobile platform is fully constrained by the cables. Under some hypotheses on cable properties, the in...