Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs) exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired...

This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-time locally controllable on an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However, some paths are “preferred” by the dynamics of the manipulator in th...

In the present work, we develop an adaptive dynamic controller based on monocular vision for tracking of objects with a three-degrees freedom (DOF) Scara robot manipulator. The main characteristic proposed control scheme is that it considers dynamics, depth moving object, and mounting fixed camera to be unknown. design algorithm kinematic visual servo whose objective even uncertainties in param...

We present a method to control a manipulator with passive joints, which have no actuators, in operational space. The equation of motion is described in terms of operational coordinates. The coordinates are separated into active and passive components. The acceleration of the active components can be arbitrarily adjusted by using the coupling characteristics of manipulator dynamics. This method ...

An approach to uncertainty compensation using a mul-tilayer feedforward neural network in multi-manipulator system control is proposed. The proposed approach is developed by formulating the dynamics of the multi-manipulator system in the constrained motion framework. The error-backpropagation algorithm is employed for neural network learning. The teaching signal for neural network learning is d...

in this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. it provides both robust tracking and load swing suppression. inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. the crane nonlinearities are then tr...

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

In our previous work (2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2 singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of moti...

This paper presents a cooperative manipulation method for dual-arm underwater vehicle-manipulator system (UVMS). The objective task is handle valve turning, which common task. We propose that includes the concept of grasping fixed structure such as pipeline. While and valve, entire can be considered parallel manipulator. Because kinematic properties system, load turning distributed between vehi...

This paper addresses the boundedness property of the inertia matrix and the skewsymmetric property of the Coriolis matrix for vehicle-manipulator systems. These properties are widely used in Lyapunov-based stability proofs and are therefore important to identify. For example, the skew-symmetric property does not depend on the system at hand, but on the choice of parameterisation of the Coriolis...