Robotics can play a key role when dealing with environments that are inaccessible or hazardous for humans including ship hulls, bridge installations, oil rigs, and first reponse scenarios. Due to irregular terrain, wheeled vehicles are ineffective at traversing the necessary terrain. Legged systems are a salient solution. However, legged systems require special considerations regarding workspac...

This paper presents the application of an ellipsoidal method for robust dynamic identification of parallel robots. The robot is modelled with classical Lagrange equation which leads to an inverse dynamic model linear with respect to the parameters. Assuming the error additive on input (motor torque), the problem is expressed in a bounded error context. The ellipsoidal method is applied in a fac...

Maneuverability describes a vehicle’s ability to change course or turn. Maneuverability of conventional underwater vehicles, such as torpedoes, can be determined by altering the position and length of control fins. To perform large-area surveying tasks, autonomous underwater vehicles (AUVs) generally require different maneuverability characteristics in their vertical and horizontal planes of mo...

This work suggests the estimation method developed in relation to the position of the robotic system (RS) operator, showing his degree of risk proneness. The base models are: Hurwitz pessimism/optimism criterion and decision trees. The problem is solved using the reverse setting: we estimate pessimism/optimism parameter of the operator (decision taker) by observing what decisions he makes when ...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

A multiestimation-based adaptive controller is designed for robotic manipulators. Multiestimation based techniques can improve the transient response of adaptive systems by switching between the various estimation schemes. The switching process is subject to a minimum dwell or residence time in order to guarantee stability. Then, the multiestimation scheme is applied to the teleoperation of rob...

This paper concerns the control of a robot manipulator by means of passive vision. A visual servoing framework will be established during the control of a 3 degree-offreedom robot manipulator. This particular type of behavioristic control scheme is especially favorable because it is cost effective and robust to a wide range of kinematics and dynamic, modeling and calibration errors. In fact in ...