In this paper, we propose a model based disturbance attenuator (MBDA) with the conventional PD controller for robot manipulators. It is a generalization of MBDA structure in [l] and is .applied to a robot manipulator which is nonlinear. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relativ...

To improve the accuracy of tracking trunk center-of-mass (CoM) trajectory and foot-end in a fully electrically driven quadruped robot, an efficient practical new control method is designed. The proposed mainly divided into balance controller (TBC) swing leg (SLC). In TBC, robot dynamics model developed to find optimal force that follows CoM based on predictive (MPC) principle. SLC, Bessel curve...

One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...

The major control problems for robot debuning mainly arise from uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired r...

Parallel robot manipulators comprise a mobile platform connected to a fixed base through three or more articulated links and are used extensively throughout industry for such diverse applications as high-precision positioning systems, fiber alignment, welding, robotic manipulators, automatic inspection systems, and so forth. Therefore, planning a trajectory to perform a specific task is one of ...

For the present paper, we developed an output feedback chattering position regulator for n-degreesof-freedom (DOF) robot manipulators with elastic and frictional joints. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations and ex...

Generally, the robot manipulators are classified into serial type open loop chains and parallel type closed loop chains. Since decades, robot manipulators were designed and operated using the open loop serial chains. In general, Robots used in industries are all general purpose manipulators, consisting of multiple rigid links and are connected in series by means of joints such as revolute, pris...

So-called robot–object Lagrangian systems consist of a class nonsmooth underactuated complementarity systems, with specific structure: an “object” and “robot”. Only the robot is actuated. The object dynamics can thus be controlled only through action contact Lagrange multipliers, which represent interaction forces between object. Juggling, walking, running, hopping machines, robotic that manipu...

Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...