In Modern world, Automation robot is used in many of the fields such as defence, surveillance, medical field, industries and so on. In this paper, the robot system is used to develop the process of cultivating agricultural land without the use of man power. The aim of the paper is to reduce the man power, time and increase the productivity rate. All the basic automation robot works like weeding...

In this paper, we propose a linear parameter varying (LPV) control design approach for trajectory tracking in a robotic system, intended to be involved in an image-guided teleoperated cardiac surgery. The robot is eventually aimed to guide a 3 degree-of-freedom medical tool (a catheter) inside the left ventricle (LV) and achieve the implantation of a prosthetic aortic valve. The successful deli...

Robot control involves advance programming, scientific and high technology. The systematic and methodological aspects of robot controls often results in having superficial control design problems that can negatively affect the robot application, usability and appeal. User friendly interface of robot control is extremely advantageous and more attractive. To illustrate, the application of medical...

For new robot applications, as medical robots, safety has became a major concern. The human sharing the working area with the robot led to integrate the field of human factors in the development. Hence, the human component has to be integrated in the early steps of the development process. Regards to the complexity of today’s robotic application, and to the requirements of a teamwork, we choose...

This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...

In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

Today, robotic devices are used to replace missing limbs, perform delicate surgical procedures, deliver neurorehabilitation therapy to stroke patients, teach children with learning disabilities, and perform a growing number of other health related tasks. According to the Robot Institute of America, a robot is ‘‘a reprogrammable, multifunctional manipulator designed to move material, parts, tool...