Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...

introduction: several techniques are used to evaluate decision making units in dmus with a restricted multiplier. dea is recognized as a methodology widely used to evaluate the relative efficiency of a set of decision-making units (dmus) involved in a production process. this approach assumes that the input and output data of the different decision making units (dmus) are measured with precisio...

this paper proposes a family of robust counterpart for uncertain linear programs (lp) which is obtained for a general definition of the uncertainty region. the relationship between uncertainty sets using norm bod-ies and their corresponding robust counterparts defined by dual norms is presented. those properties lead us to characterize primal and dual robust counterparts. the researchers show t...

one of the most important problems of the designs proposed by traditional economic-statistical approaches of control charts is inefficiency in the face of uncertainty. uncertainty in the parameters of economic-statistical models may lead to failure in rapidly detecting changes in processes and impose greater costs to the organization. monitoring the machining process in an automotive industry e...

This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

First Riccati equation with matrix variable coefficients, arising in optimal and robust control approach, is considered. An analytical approximation of the solution of nonlinear differential Riccati equation is investigated using the Adomian decomposition method. An application in optimal control is presented. The solution in different order of approximations and different methods of approximat...