This paper presents a unified robust motion control scheme for robot manipulators in state space. The controller design task is carried out based on feedforward control sketch in state space framework with no need to the Computed Torque Control (CTC) which is usually used in many other control approaches. In the proposed approach, the load torque and some other uncertainties in the linear model...

Design issues, dynamic modeling, trajectory planning, and feedback control problems are presented for robot manipulators having components with mechanical flexibility, either concentrated at the joints or distributed along the links. The chapter is divided accordingly in two main parts. Similarities or differences between the two types of flexibility are pointed out wherever appropriate. For ro...

We propose in this work the first model-based robust control method for a team of underactuated manipulators jointly manipulating a load. The method is based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load, combined with a variable structure controller. Singularities in the control method a...

In order to apply the terminal sliding mode control to robot manipulators, prior knowledge of the exact upper bound of parameter uncertainties, and external disturbances is necessary. However, this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot. To resolve this problem in robot control, we propose...

This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The weights for each neural network are adapted online by an extended Kalman fi...

The problem of global output feedback tracking control of robot manipulators has been open for several years. In this short note we propose a computed torque plus (nonlinear) PD like controller to solve the output feedback tracking control problem of one degree of freedom (dof) Euler-Lagrange (EL) systems. We prove in this case global asymptotic stability. Our approach is the extension of our p...

This paper proposes a novel chattering free neuro‐sliding mode controller for the trajectory tracking control of two degrees of freedom (DOF) parallel manipulators which have a complicated dynamic model, including modelling uncertainties, frictional uncertainties and external disturbances. A feedforward neural network (NN) is combined with an error estimator to...

This paper proposes an adaptive fuzzy hybrid force/position control scheme, which can force the end eflector of robot manipukators to follow the contour of an object in lack of knowledge of the exact geomeotric shape. The control objective is to perform hybrid force/position control regardless of the existence of the manapdator dynamics. The control algorithm proposed can adaptively update the ...

This paper addresses the trajectory tracking control of a nonholonomic wheeled mobile manipulator with parameter uncertainties and disturbances. The proposed algorithm adopts a robust adaptive control strategy where parametric uncertainties are compensated by adaptive update techniques and the disturbances are suppressed. A kinematic controller is first designed to make the robot follow a desir...