A new algorithm for the trajectory control of robot manipulators by decentralised feedback is proposed, by dealing with the manipulator and joint actuator dynamic models in a model following framework. A variable structure control law is used with or without force measurement. The controller is simple, computationally easy, and robust to parametric uncertainties and payload variations. INTRODUC...

A suspended cable–based parallel robot (CBPR) composed of four cables and an end–grab is employed in a pick–and–place operation moving target gangues (MTGs) with different shapes, sizes, masses. This paper focuses on two special problems trajectory planning tracking control the gangue–sorting space. First, kinematic dynamic models for robots are presented presence model uncertainties unknown ex...

We introduce a new adaptive cooperative control strategy for robotic networks comprised of heterogeneous members. The proposed feedback synchronization exploits an active parameter adaptation strategy as opposed to adaptive parameter estimation of adaptive control theory. Multiple heterogeneous robots or vehicles can coordinate their motions by parameter adaptation analogous to bio-genetic muta...

This paper develops a generalized adaptive fuzzy control scheme for MIMO nonlinear second order systems. Here, the example robotic manipulators is used to illustrate the control algorithm. The controller for each degree of freedom (DOF) consists of a feedback fuzzy PD systems used to keep the closed-loop stable. The rule base consists of only four rules per each DOF. Furthermore, the fuzzy feed...

This article presents an adaptive finite time second-order sliding mode tracking control scheme for robotic manipulators. A new law is suggested to force the trajectories of robot manipulator move from all initial conditions proportional-integral-derivative switching surface in and stay on it. Moreover, adaptation rejects requirement knowledge about upper bound external perturbations. It diffic...

his paper proposed a robust control method for a land-based master and an underwater slave robotic manipulator. In order to comprehend the synchronization between the two diverse systems with the existing uncertainties, external disturbances and fully unknown parameters are considered. For a robust position tracking control of the underwater slave manipulator, an adaptive terminal sliding mode ...

We present a review of recent trends in cognitive robotics that deal with online learning approaches to the acquisition of knowledge, control strategies and behaviors of a cognitive robot or agent. Along this line we focus on the topics of object recognition in cognitive vision, trajectory learning and adaptive control of multi-DOF robots, task learning from demonstration, and general developme...

The trajectory tracking of robot manipulators is addressed in this paper. Two important practical situations are considered: the fact that robot actuators have limited power, and that only position measurements are carried out. Let us notice that a few solutions for the torque-bounded OFT (output feedback tracking) control has been proposed. In this paper we contribute to this subject by presen...

optimal balancing is a new approach based on optimal control a which modes, controls and the amount of equilibrium scale are calculated simultaneously. this approach has a significant effect on increasing performance of industrial robots which causes maximum decreasing of energy consumption. despite many applications of robotics such as welding and gluing, the path is predefined , but other unk...

We present a review of recent trends in cognitive robotics that deal with online learning approaches to the acquisition of knowledge, control strategies and behaviors of a cognitive robot or agent. Along this line we focus on the topics of object recognition in cognitive vision, trajectory learning and adaptive control of multi-DOF robots, task learning from demonstration, and general developme...