Iterative learning control is a technique especially developed for application to processes which are required to repeat the same operation, or task, over a finite duration and has many applications, such as a gantry robot undertaking a pick and place operation. The exact sequence is that once the task is completed, the robot is reset to the starting position and then the task is repeated. An i...

A flexible robot arm with strain gauges distributed on it is used as a sensing unit in determination of endpoint position and force of flexible manipulator. The position and orientation of the flexible arm is expressed as a function of the local curvature. An interpolation technique gave a continuous curvature function from a finite set of measurements made with strain gauges. The endpoint forc...

A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mo...

This paper presents investigations into the development of hybrid control schemes for input tracking and vibration control of a flexible robot manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. To study the effectiveness of the controllers, initially a collocated PD control is developed fo...

This paper deals with the implementation of a hybrid force/velocity controller for the contour tracking of an object of an unknown shape performed by an industrial robot manipulator. In particular we propose the use of a gain scheduling approach in order to cope with the configuration dependent dynamics of the manipulator in constrained motion and therefore in order to allow to obtain satisfact...

The paper presents the original contributions on structural and functional analysis of numerical controlled (NC) axes of industrial robots (IR) with electric driving system. Main purpose of the paper is to define and validate an assisted selection procedure of IR’s NC axes optimal structure imposed specification accordingly IR’s output for performance level. For this purpose a complex assisted ...

The probabilistic modelling of a robot manipulator workspace when combined with a Human-Machine Interface (HMI) allows the extraction and learning of the spatial preferences of the user. Furthermore, the knowledge of the most accessed zones of the robot’s workspace permits the bounding of the time needed for the robot to reach a given position at its workspace. From its early beginning, the use...

A method for suppressing residual vibrations in flexible systems is presented and experimentally demonstrated. The proposed method is based on the preconditioning of the inputs to the system using conventional low-pass FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan; b) Windowbased method (using Chebyshev window); and c) Constrained Least Squares method, are show...

A high level of positioning accuracy is an essential requirement in a wide range of industrial robots’ applications. Robot calibration is a process by which robot positioning accuracy can be improved. During a manipulator control system design, and periodically in the course of task performing, manipulator geometry calibration is required. Nowadays robot calibration plays an increasingly import...

We describe a robotic system composed of a manipulator and two cameras. We use the vision system to guide the robot hand to a visible target. The camera positions are known only approximately. Our system does not use the details of the kinematics of the manipulator. There is no common frame of reference linking vision system, workspace and robot hand. The stereo vision system gives information ...