One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...

A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-dof parallel micromanipulator attached to the macro-motion industrial robot, and a 6-dof force-reflecting haptic master device. The master device is using five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-dof master hand co...

The problem of global output feedback tracking control of robot manipulators has been open for several years. In this short note we propose a computed torque plus (nonlinear) PD like controller to solve the output feedback tracking control problem of one degree of freedom (dof) Euler-Lagrange (EL) systems. We prove in this case global asymptotic stability. Our approach is the extension of our p...

A method as presented for autonomous kanematzc calzbratzon of a 3-DOF redundant parallel robot. Multaple closed loops are used an a least squares optamzzaiaon method. Ill-condataonang, column scalang of the gradzeni matrax, and obseraabalaty andaces for the best pose set of robot calzbratzon configurataons are dascussed. Ezperamental results are presented and compared wath the results iiszng an...

In this research paper, the multilayer feedforward neural network (MLFFNN) is architected and described for solving forward inverse kinematics of 3-DOF articulated robot. When designing MLFFNN kinematics, joints' variables are used as inputs to network, positions orientations robot end-effector outputs. case designed using only inputs, whereas joints’ For both cases, training proposed accomplis...

This paper aims 3-dof scara type robot manipulator using dynamic modeling. In this paper presents dynamic modeling of robot manipulator based on Lagrange Euler formulation using Mamdani based Fuzzy controller. The aim of designing fuzzy controller is to overcome the drawbacks of conventional PID controller because robot manipulators are nonlinear model so conventional PID controller cannot give...

This paper presents an efficient application of a model based predictive control in parallel mechanisms. A predictive functional control control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed ...