This paper presents a novel method to compensate the eeects of exi-bility in belt-driven drive trains. Such drives are found in robot manipulators, for example, where drive exibility is undesirable. Unfortunately, the eeects of exibility can be diicult to compensate using the primary actuator, due to bandwidth limitations. By introducing a second actuator, which applies a force to the belt at a...

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot m...

Rigid Link Electrically Driven (RLED) robot manipulators are used extensively in applications. For RLED manipulators, a hybrid adaptive-learning controller, which do not utilize the velocity measurements, is designed and proved that it can be made semi-global asymptotically stable (Canbolat et al., 1996). The learning part in that work (Canbolat et al., 1996) is based on the results given in (M...

This paper presents an analysis and design method for human/robot integrated systems, especially for the coordination of human and robot formations based on a group of distributed mobile manipulators. The key for the human/robot integrated system is to create a common motion reference that can be understood by both human and the robots in the formation. First, the perceptive reference frame is ...

A robot is generally considered as a physical machine which can move around, operate a mechanical limb and exhibit intelligent and autonomous behavior in public. However, a surgical robot is not like the common robots which have the ability of autonomous action. A surgical robot is a collection of manipulators which just follow the surgeon’s hand motions. The manipulators of a surgical robot re...

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of...

Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected to active winches to provide a variable length and hence to actuate the mechanism or may be only to provide a kinematic constraint to eliminate an undesired motion of the endeffector. Ma...