A new concept for controlling of underactuated robot manipulators is presented by using switching computed torque method. One fundamental feature of the present approach is to use the partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Dynamic model of an underactuated robot system is directly analyzed to synthesize partly stable, computed torque controllers wit...

This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configurationindependent desired impedance. For give...

In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chatterin...

In order to successfully implement several control laws, a uniform upper bound for the Jacobian of the gravity vector is necessary. However, not all joint configurations of robot manipulators insure the existence of such a bound. In this paper we fully characterize the class of robot manipulators for which the Jacobian of the gravity vector is uniformly bounded. The results in this paper can be...

Modular robot manipulators have many advantages over conventional integrated robot manipulators, including flexibility, re-configurability, versatility, and low-cost with massive production. However, the lack of control precision has been a long standing drawback in MRM applications until now. In this paper, a VDC-based control and communication system using embedded FPGA (field programmable ga...

An unsolved ancient problem in position control of robot manipulators is to find a stability analysis that proves global asymptotic stability of the classical PID control in closed loop with robot manipulators. The practical evidence suggests that in fact the classical PID in industrial robots is a global regulator. The main goal of the present paper is theoreticall...

Almost all present control strategies for electrically-driven robots are under the rigid robot assumption. Few results can be found for the control of electrically driven robots with joint flexibility. This is because the presence of the joint flexibility greatly increases the complexity of the system dynamics. What is worse is when some system dynamics are not available and a good performance ...

A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator’s dynamics based on...

This paper presents a general recurrent neural network (RNN) model for online control of time-varying robot manipulators. The robot manipulators with different setting parameters work cooperatively on an unknown curve tracing. Each joint of the manipulator is respectively provided a learning method to optimize trajectory by the training RNN model. In this paper, the proposed RNN model shortens ...