A model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental re...

 The BIGSS lab is developing a minimally-invasive surgical workstation to treat the osteolytic lesions using using a snake like dexterous manipulator (SDM).  The SDM will be positioned in the workspace by a robotic arm.  The focus of this project is integrating the SDM with the robotic armwhich is a 6 DOF Universal Robot (UR5) and position control of the tip of the SDM inside the lesion area.

The omni-directional mobile robot with multi DOF, because the operation posture and operation accuracy of the manipulator can be better controlled in a narrow or crowded workplace compared with the general manipulator, is getting more interested in practical applications. The present problem is to improve its flexibility for operating multiple different targets. Target recognition with image pr...

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which re...

For the collision avoidance with a medical robot with 6 DOF a virtual simulation system is presented. Manipulator and obstacles are modelled by geometric primitives. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The application initially being addressed is maxillofacial surgery, where the safety of the patient is the main r...

The purpose of this paper is to model and simulate a 6 DOF robotic system with revolute joints in order to optimize the motion law which results in uniform coating deposited by spray pyrolysis. The structure and the complexity of the robotized system are determined by the necessary movements in the spray pyrolysis process. The nozzle (end-effector of the robot manipulator) has two translations,...

SUMMARY A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method. 1. INTRODUCTION The design of a redundant manipulat...

Abstract. This research focuses on developing and testing the highlevel control of a novel eight DOF hybrid robot using a DaVinci master manipulator. The teleoperation control is formulated as weighted, multi objective constrained least square (LS) optimization problems one for the master controller and the other for the slave controller. This allows us to incorporate various virtual fixtures i...

A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Third, we derive for the unknown parameter ...