 Important robotic tasks could be effectively performed by powerful and accurate manipulators. However, high accuracy is generally difficult to obtain in large manipulators capable of producing high forces due to system elastic and geometric distortions. A method is presented to identify the sources of end-effector positioning errors in large manipulators using experimentally measured data. Th...

Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive in...

A new robust learning controller for simultaneous position/force control of constrained uncertain rigid-link electrically-driven (RLED) manipulators is presented. In the controller, a robust nonlinear control design and the direct adaptive neural networks (NN) technique are integrated together. Firstly, NN devices are used to adaptively learn those RLED manipulator’s structured/unstructured unc...

A flexible operation of multiple robotic manipulators operating in a dynamic environment requires online trajectory planning to ensure collision-free trajectories. In this work, we propose real-time capable motion control algorithm, based on nonlinear model predictive control, which accounts for static and obstacles. The proposed algorithm is realized distributed scheme, where each robot optimi...

This article presents a standardized human–robot teleoperation interface (HRTI) evaluation scheme for mobile manipulators. Teleoperation remains the predominant control type manipulators in open environments, particularly quadruped However, manipulators, especially are relatively novel systems to be implemented industry compared traditional machinery. Consequently, no method has been establishe...

The PUMA (Programmable Universal Machine for Assembly, or Programmable Universal Manipulation Arm) is an industrial robot arm developed at a pioneering robot company Unimation. Application engineering, design experience, and enhanced manufacturing techniques have resulted in a powerful robot line with long reach and heavier payload capabilities. The advanced design and flexibility of the robots...

Engineers have for some time known that singularities play a significant role in the design and control of robot manipulators. Singularities of the kinematic mapping, which determines the position of the end–effector in terms of the manipulator’s joint variables, may impede control algorithms, lead to large joint velocities, forces and torques and reduce instantaneous mobility. However they can...