Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...

A new approach based on interval analysis is developed to find the global minimum-jerk (MJ) trajectory of a robot manipulator within a joint space scheme using cubic splines. MJ trajectories are desirable for their similarity to human joint movements and for their amenability to path tracking and to limit robot vibrations. This makes them attractive choices for robotic applications, in spite of...

A national research and development program on Underground Development Technology has started in 1989. In this program, a basic study of a excavating robot has been done at the Mechanical Engineering Laboratory. This paper describes an experimental mobile manipulator for the excavating task. Four legs and a pair of crawlers are equipped with the mobile platform, and a manipulator is set on it. ...

This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-time locallycontrollableon an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However, some paths are “preferred” by the dynamics of the manipulator in that...

This paper proposes a method for the identiŽ cation of dynamics and control of a multilink industrial robot manipulator using Runge–Kutta–Gill neural networks (RKGNNs). RKGNNs are used to identify an ordinary differential equation of the dynamics of the robot manipulator. A structured function neural network (NN) with sub-networks to represent the components of the dynamics is used in the RKGNN...

By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is reformulated as a quadratic program (QP) with equality and bound constraints, which is then solve...

This work presents the development of mathematical model of a mobile manipulator and its use to develop a controller based on backstepping nonlinear control and the computed torque control law. This MIMO nonlinear controller was implemented on the Robot Operating System (ROS) environment. The mobile robot is based on the Barrett WAM (Whole Arm Manipulator) and a custom build mobile platform. Th...

This paper introduces an adaptive fuzzy-neural control (AFNC) utilizing sliding mode-based learning algorithm (SMBLA) for robot manipulator to track the desired trajectory. A traditional sliding mode controller is applied to ensure the asymptotic stability of the system, and the fuzzy rule-based wavelet neural networks (FWNNs) are employed as the feedback controllers. Additionally, a novel adap...

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 ...