In this paper a general procedure devoted to trajectory optimization is presented. This procedure is used for optimizing the trajectory of a parallel manipulator named CaPaMan (Cassino Parallel Manipulator) by using a performance criterion that includes the mechanical energy and the total traveling time. The resulting scalar objective function is then minimized. The trajectory is represented by...

In this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. It provides both robust tracking and load swing suppression. Inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. The crane nonlinearities are then tr...

The kinematics and dynamics of free-floating manipulators are examined from a fundamental point of view. The dynamic coupling between an uncontrolled spacecraft and its manipulator can make a system dynamically singular at configurations which cannot be predicted by the system’s kinematic properties. Nonholonomic behavior is observed in free-floating systems, and is due to the nonintegrability ...

This paper illustrates an application of intelligent control for a planar 3-RRR parallel manipulator. Unlike control of serial manipulators that has been vastly addressed in scientific literature, control of parallel manipulators has been only addressed by few. A GA optimized bi-level tuning fuzzy PD controller is designed here to control the manipulator. In order to consider the maximum allowa...

This paper introduces an adaptive fuzzy-neural control (AFNC) utilizing sliding mode-based learning algorithm (SMBLA) for robot manipulator to track the desired trajectory. A traditional sliding mode controller is applied to ensure the asymptotic stability of the system, and the fuzzy rule-based wavelet neural networks (FWNNs) are employed as the feedback controllers. Additionally, a novel adap...

This paper deals with the problem of robust trajectory tracking control, with a guaranteed H∞ performance, for free-floating manipulator systems. A new control strategy is developed based on the robot mathematical model and a fuzzy adaptive control law. The dynamic model of the free-floating space manipulator is described through the Dynamically Equivalent Manipulator approach. The fuzzy adapti...

This paper presents an integrated fuzzy approach to recover the performance in impedance control, reducing the errors in position and force, considering uncertainties in the parameters of the manipulator model and contact surface model. This integrated strategy considers a fuzzy adaptive compensator in the outer control loop that adjusts the manipulator tip position to compensate for uncertaint...

We present a new optimal control approach to robust control of robot manipulators in the framework of Lin et al [7]. Because of the unknown load placed on a manipulator and the other uncertainties in the manipulator dynamics, it is important to design a robust control law that will guarantee the performance of the manipulator under these uncertainties. To solve this robust control problem, we f...

International Journal of Robotics Research, v 19, n 11, p. 1066-1074 Mobile manipulator systems hold promise in many industrial and service applications including assembly, inspection, and work in hazardous environments. The integration of a manipulator and a mobile robot base places special demands on the vehicle’s drive system. For smooth accurate motion and coordination with an on-board mani...