A strategy to improve the performance of current commercial industrial robots is presented in this paper. This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot. The RCID is a small six degrees-of-freedom (DOF) high bandwidth force–impedance controlled parallel manipulator, developed at the School of Engin...

In robotic tasks where the manipulator has to make transition from free space motion to constrained one, there always exists a inevitable phase transition. A number of controllers have been proposed in the literature with various discussions on their practical implications. In this paper for the rst time a novel framework for studying design of controllers for robotic contact tasks problem is p...

This paper deals with the practical applicability of the control design methods that are based on the descriptor representation for robotic manipulators. The nonlinear model of a manipulator can be reformulated as a linear parameter varying (LPV) model with rational parametric dependence. The statespace LPV model can then be converted into a LPV descriptor model with affine parametric dependenc...

Identifying a linear parameter-varying (LPV) model of a non-linear system from local experiments (i.e., experiments with small displacements around given positions) is a problem which still deserves attention. Rather than building a model either from the law of physics or from experimental data independently, the combination of an analytic and an experimental approach is used in this paper to i...

Robotic manipulators are highly nonlinear and coupled dynamic systems, which may be subject to different types of unknown disturbances such as joint frictions and end-effector external payloads. Such disturbances, when unaccounted for, cause poor tracking performance of the robot and may even destabilize the robot control system. In this paper we propose a novel nonlinear control scheme for rob...

The morphological design of kinematically redundant robotic manipulators is a non-trivial, task-specific process. The availability of redundant degrees of freedom (DOF) affords a redundant manipulator an infinite number of motion solutions for a given task, thereby allowing the achievement secondary manipulation goals. Motion control methods play an integral role in the quality of redundancy re...

In most robotic applications, tactile sensors are modeled as rigid matrices of adjacent pressure sensing elements so that the geometric deformations of their surfaces are neglected. This paper proposes to define these deformations as rotational and translational compliances that are later used as new tactile features for tactile servoing tasks. In fact, a novel two-layered inverse tactile Jacob...

In this paper some adaptive nonlinear multivariable techniques used in the control of robotic manipulators are presented. The nonlinear control law and state feedback are used in achieving a linear inputoutput behavior for the controlled system. For the design of the adaptive nonlinear control, the exact feedback input-output linearization and the method of gradient are used. The nonlinear cont...

Y. Nakamura and H. Hanafusa, “Inverse kinematic solutions with singularity robustness for robot manipulator control,” ASME J. Dynam. Sysr., Meas., Conrr., vol. 108, pp. 163-171, Sept. 1986. C. W. Wampler II, “Manipulator inverse kinematic solutions based on vector formulations and damped least-squares method,” IEEE Trans. Sysf. Man Cybem., vol. SMC-16, no. 1, pp. 93-101, Jan./Feb. 1986. A. A. M...

This paper presents a robotic architecture that facilitates semi-automatic teleoperation of a dual-arm manipulator system. The architecture is built upon reactive behavior agents tightly coupling sensing and action, where emergent behaviors correlate human intervention with sensor-based autonomous operation. Reactive agents are devised for perceptual and motor behaviors, and a structured light ...