Space robots are an effective resource for astronauts working in a dangerous space environment. This paper proposes and implements a system to validate the performance of robot movement in space. A humanoid robot was designed with a vision-based self-calibration and navigation system. In addition, a path planning method was proposed to minimize joint torque. Simple gravity-compensation equipmen...

In this paper, a new robust robot force tracking impedance control scheme that uses neural network as a compensator is proposed. The proposed neural com-pensator has the capability of making the robot to track a speciied desired force as well as of compensating for uncertainties in environment location and stiiness, and the uncertainties in robot dynamics. The neural compensator is trained sepa...

Rigid body dynamics algorithms play a crucial role in several components of a robot controller and simulations. Real time constraints in high frequency control loops and time requirements of specific applications demand these functions to be very efficient. Despite the availability of established algorithms, their efficient implementation for a specific robot still is a tedious and error-prone ...

gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

Adaptive controllers for robot positioning and tracking using direct visual feedback with camera-in-hand configuration are proposed in this paper. The controllers are designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system achieves the motion control objective ...

This 'paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches...

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...

This paper proposes a model-based iterative learning control algorithm for time-varying systems with a high convergence speed. The convergence of components of the tracking error can be controlled individually with the algorithm. The convergence speed of each error component can be maximised unless robustness for noise or unmodelled dynamics is needed. The learning control algorithm is applied ...

As psychologists considered synchrony as an important parameter for social interaction, we hypothesize that in the case of social interaction, people focus their attention on regions of interest where the visual stimuli are synchronized with their inner dynamics. Then, we assume that a mechanism able to detect synchrony between internal dynamics of a robot and external visual stimuli can be use...

In this paper, the problem of control and stabilization of a bilateral tele-surgery roboticsystem in interaction with an active soft tissue is considered. To the best of the authors’ knowledge, theprevious works did not consider a realistic model for a moving soft tissue like heart tissue in beating heartsurgery. Here, a new model is proposed to indicate significant characteristics of a moving ...