In this paper, a constant speed control of slider-crank mechanisms for machine tools is proposed. A joint-task space hybrid controller based on second-order sliding mode and time-base generator was used to guarantee trajectory tracking complete turn the mechanism crank. switching criterion implemented in order avoid singularities located at two extreme positions slider stroke. trapezoidal profi...

Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry challenging tasks. Most of the current works assume that robot model is precise enough task at hand. However, increasing demands and safety requirements robotic applications, there a need controller compensates online inaccuracies. We propose adaptive based on quadr...

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...