In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analy...

In this contribution we present a robot assistant consisting of a mobile platform and a manipulator to support manual workplaces in production environments. We propose a general definition of robot assistants. Two applications for the robot assistant rob@work are described – the assembly of hydraulic pumps and the assistance of manual gas metal arc welding (GMAW). A description of the hardware ...

Developing software for mobile robot applications is a tedious and error-prone task. Modern mobile robot systems are distributed systems and their designs exhibit large heterogeneity in terms of hardware, operating systems, communications protocols, and programming languages. Vendor-provided programming environments have not kept pace with recent developments in software technology. Also, stand...

In this paper we describe the mechanical design, gait and control for a modular hexapod robot which makes it compliant to terrain while climbing slopes up and down. The robot uses a unique electronically actuated 2DOF universal spine similar to the spine of the Snake and the four legged animals like leopard, tiger etc.By controlling the amount of stiffness of the spine we were able to make the ...

a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...