Some robust control methods have been developed in the past in order to increase tracking performance in the presence of parametric uncertainties. In the presence of parametric uncertainty, unmodelled dynamics and other sources of uncertainties, robust control laws are used. Corless-Leitmann [1] approach is a popular approach used for designing robust controllers for robot manipulators. In earl...

in the research, six degrees of freedom hexapod parallel machine tool is studied and investigated. jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on jacobian matrix. geometric parameters of cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, a...

A neuro fuzzy control algorithm for planar robotic manipulators is developed in this paper. This control algorithm is able to handle uncertainties, disturbances or unmodeled dynamics. Asymptotic stability of the equilibrium state of the control system is shown by use of direct Lyapunov method and Barbalat’s Lemma. A series of simulations confirms the algorithm goodness. Key-Words: fuzzy control...

This paper extends the Operational Space Formulation to the important class of serial-to-parallel chain (branching) manipulators. The various models and concepts developed in operational space, such as Dynamically Consistent Force/Torque Decomposition for control of redundant manipulators and the Augmented Object Model for cooperative manipulator systems, are shown to extend directly. Dynamic m...

We present a novel approach to motion planning for robot manipulators in known environments. The key concept h to evaluate coz.qdefe trajectories between start and goal in the workspace and to reshape them incrementally. The evaluation is based on virtual modifications of the geometry model of the robot. An initially colliding trajectory is bended in space to be improved with respect to the eva...

We reinterprete and improve recent results on robust control of robots by the computed method. The methods and ideas used are inspired by 'passivity based' control methods for robot manipulators and lead to a significant increase in freedom of controller implementation, thereby providing more flexibility to the designer of robot control systems.

A new position controller with gravity compensation for robot manipulators in joint space is proposed in this paper. The goal of position control problem for global asymptotically stability is achieved by using Lyapunov ’s direct method and LaSalle ’s invariance principle over the full non—linear mutivariable robot closed—loop system. In adition, this paper also presents experimental results on...

Parallel manipulators have been proposed to overcome accuracy problem in the end effector positioning, exhibited by serial manipulators(Stewart, 1965)(Reboulet, 1988)(Merlet, 2000). These parallel robots are primarly used in the applications for which the considered processes require a high degree of accuracy, high speeds or accelerations. Aircraft simulator (Stewart, 1965), machining tools (Ne...

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...

Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling ...