This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...

By development of different industries that utilize robots for complicated tasks, the need for multi-robot systems is increasing in nuclear reactors, environments that are not safe for human activities, assembly application in electronic industries, space robotic applications, underwater applications and other complex tasks. In cooperation of robots for holding a common object we often seek for...

In impedance control for contact force tracking, it is well known that the reference trajectory of the robot is calculated from known environment stiiness 1]. Here we present a simple technique for determining the reference trajectory under the condition that the environment stiiness is unknown. The technique is developed based on the replacement of the unknown stiiness with a function of the m...

The work presented here deals with the trajectory-tracking control of omnidirectional mobile robots using a novel robust technique. aim is to achieve good tracking performance in presence frictional forces and torques, uncertainties, saturated inputs. First, dynamic model robot incorporating motor dynamics torques derived leading higher order system model. Subsequently, cascaded sliding-mode sc...

In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptati...

An adaptive variable structure control approach for robot manipulators is proposed in this paper. The proposed approach avoids the requirement of the uncertainty parameter bounds which is adopted in the most of robust control methods, and makes the tracking errors converge to zero exponentially without requiring any persistent excitation. In addition, the fast parameter variations (e.g. payload...

In this paper a new procedure for type synthesis of low-DoF parallel robots based on screw theory is presented. The motivation of these work is that for many industrial applications, in particular in the machine-tool field, less than 6 degree of freedom (6-DoF) may be needed to complete the task. For example, for milling operation in the machine-tool domain, the rotation of the platform around ...

This paper presents a cross-coupled control approach to the tracking control of parallel manipulators in a synchronous manner. Based on the synchronization goal, the position synchronization error is investigated by considering motion synchronization between each actuator joint and its adjacent ones. A decentralized trajectory tracking controller is then developed with feedback of both position...

An adaptive super-twisting multivariable fast terminal sliding mode control scheme based on time delay estimation (TDE) and asymmetric error constraints are proposed to guarantee high-precision trajectory tracking of cable-driven manipulators under complicated unknown uncertainties. The system is constrained by joint position errors, which time-varying. First, the range joints designed ensure t...

This paper presents three trajectory tracking control strategies for unicycle‐type robots based on a leader‐followers scheme. The leader robot converges asymptotically to a smooth trajectory, while the follower robots form an undirected open‐chain configuration at the same time. It is also shown that the orientation angles of all the robots converge to the same value. The...