Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot perfor...

In this paper we present a new approach for joint trajectory tracking of a single-link flexible robot manipulator. Firstly a distributed parameter dynamic model is derived using extended Hamilton Principle. Based on this model a new moment feedback trajectory tracking control scheme is designed for a single-link flexible robot manipulator having a payload at its free end. The control scheme is ...

This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A modified recurrent high order neural network (RHONN) structure is used to identify the plant model and based on this model, a discrete-time control law is derived, which combines block control and sliding mode techniques. The neural network learning is ...

A method for estimating through training the feature Jacobian for image-based closed-loop robot manipulator control is presented. The resulting Jacobian is independent of depth information and models the desired end-effector pose with respect to an image-feature vector. The estimation is performed locally, in the workspace volume, where the task is expected to be performed and therefore is appl...

In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2...

This paper reviews the literature on control of 2-DOF robot manipulator using fuzzy logic control (FLC). Different schemes of FLC laws are considered here. These are PID control, sliding mode control (SMC), and adaptive control. Importance of each control techniques with its advantages and disadvantages is discussed here. It is highlighted that the robustness of the system has improved consider...

This document presents the computational needs implicit in the design and operation of aerial-robot manipulators, for this purpose, different considerations are identified and verified in the current and very recent state of the art. It is started with the computation required for the individual UAS units, and continue with the full-structure operation which is divided into 4 cyclic modes of op...

In this work the problem of remote calibration and trajectory replanning for a subsea robotic manipulator is considered. Because the trajectory planning is normally done in a structured environment, several uncertainties arise when the robot is placed on the seabed and these need to be compensated for to guarantee that the task specifications are fulfilled. We address the particular problem of ...

A small direct drive serial manipulator has been developed for applications in sample handling for scientific payloads in space. The manipulator is about 15 cm in length, and has 5-10 microns positioning precision. The prototype forms the basis for design of the MicroTrex flight experiment for NASA. The experiment will measure performance of the robot in low earth orbit under control from a gro...

The problem of the end-point control of long reach manipulator systems, consisting of a dexterous manipulator carried by deployable structures, is addressed. Such systems can be important where a manipulator must perform a task in a difficult to reach location. Power line maintenance systems and the Space Station Freedom’s external maintenance robot are examples. Their supporting deployable str...