If robots are to be introduced into the human world as assistants to aid a person in the completion of a manual task two key problems of today’s robots must be solved. The human–robot interface must be intuitive to use and the safety of the user with respect to injuries inflicted by collisions with the robot must be guaranteed. In this paper we describe the formulation and implementation of a c...

An open question in fuzzy logic control of robot manipulators is how to modify the fuzzy controller parameters to guarantee appropriate performance specifications. In this paper a new approach to performance tuning of analytic fuzzy controllers for robot manipulators is presented. The analytic fuzzy control is a nonconventional approach that uses an analytic function for output determination, i...

This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Exampl...

In this paper, two new methods for computation of the inertia matrix of robot manipulators are proposed. The new algorithms are based on a block diagram of manipulator dynamics, derived from the Newton-Euler formulation. The proposed methods allows to compute the inertia matrix explicitly, in an efficient recursive manner, and can be applied for robot dynamics simulation.

This paper discusses the CARA programming environment for robot manipulators. The environment is realized as the integration of a full-edged logic system with a real-time robotic machine. While the development of a general robot programming environment is an elusive goal, exible development and in-cremental reenement are made possible by the open nature of the CARA environment.

Referring to the point-to-point control problem, this work presents a PD control algorithm that is adaptive with respect to the gravity parameters of robot manipulators. The proposed controller is shown to be globally convergent. Following the same approach, an application to the tracking problem is also presented. Simulation tests are included, with reference to a robot having three degrees of...

There are several ubiquitous kinematic structures that used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers experimenting task-based mechanism synthesis could provide higher efficiency custom optimized manipulators. Many studies have focused on finding efficient optimization algorithm for robot These manipulators, however, usually from simp...

Robotic manipulators are becoming a very common tool in modern industries and research laboratories. In order to successfully execute a given task a control software is necessary that sends and tracks appropriate orders to the robot arm. This paper presents the design principles of a general software framework capable to control any robot arm with any set of sensors. A possible implementation o...

In this paper, the relationships between the kinematics design and tracking performance of the model-based adaptive control are studied. For this purpose, the position tracking error convergences of three serial manipulators with joint types of RR, RP and PP are considered. The physical parameters and desired trajectories of these manipulators are assumed same for the proper comparison. Since t...

In this letter, a model based disturbance attenuator (MBDA) for robot manipulators is proposed and the stability of the MBDA in robot positioning problems is proved via Liapunov’s direct method. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modelling errors so that the plant output remains relatively unaffected by them. The output error ...