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 ...

abstract a 2.5 year old girl is presented with both hands constriction bands leading to distal amputations and the rare deformity of shoulder duplication in the right side accompanying constriction skin marking over the affected shoulder. the cephalomedial scapula articulated with the clavicle and the caudolateral scapula articulated with humeral head. the most important physical finding which ...

 Abstract A 2.5 year old girl is presented with both hands constriction bands leading to distal amputations and the rare deformity of shoulder duplication in the right side accompanying constriction skin marking over the affected shoulder. The cephalomedial scapula articulated with the clavicle and the caudolateral scapula articulated with humeral head. The most important physical finding which...

T h e major problems of hybrid force/position control arise f r o m uncertainty of the robot manipulators and u n k n o w n parameters of the task enviroment. In this paper, a n e w design method of the hybrid force/position control of the robot manipulators i s proposed t o solve these problems. T h e control objective is t o track the desired force and posit ion trajectories simultaneously re...

I n this paper we discuss an autonomous locomotion control of a snalce-like articulated robot with passive wheels. Such a robot has quite different mechanism in locomotion from that of other locomotion systems, namely, it has no driving wheel and moves only b y bending its body. Hence the locomotability depends on i ts posture. I n order to evaluate the locomotability, we utilize and a notion o...

This paper presents an efficient method of obtaining a straight-line motion in the tool configuration space using an articulated robot between two specified points. The simulation results & the implementation results show the effectiveness of the method. Keywords—Bounded deviation algorithm, Straight line motion, Tool configuration space, Joint space, TCV.