This letter investigates the design of reduced-order observers for robot manipulators. Observer stability conditions are obtained based on a Lyapunov analysis. The proposed observer is enhanced with hybrid scheme that may adjust gains to cope possible unbounded velocities joints. Thanks such strategy, works accurately both robots driven by open-loop controllers and output feedback controllers. ...

Obtaining optimum energy performance is the primary design concern of any mechanical system, such as ground vehicles, gear trains, high speed electromechanical devices and especially industrial robot manipulators. The optimum energy performance of an industrial robot manipulator based on the minimum energy consumption in its joints is required for developing of optimum control algorithms (Delin...

Parameter identification of robot manipulators is an indispensable pivotal process of achieving accurate dynamic robot models. Since these kinetic models are highly nonlinear, it is not easy to tackle the matter of identifying their parameters. To solve the difficulty effectively, we herewith present an intelligent approach, namely, a heuristic particle swarm optimization (PSO) algorithm, which...