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 ...

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 paper presents a weighted path planning approach for a light weight robot coming into compliant contact with the environment, as well as robot‐ environment interaction enabled impedance control. Using a joint torque sensor, Cartesian impedance control is introduced to realize the manipulator compliance control. Then the weighted path planning approach is de...

This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The neural network learning is performed on-line by Kalman filtering. The contr...

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

This paper aims 3-dof scara type robot manipulator using dynamic modeling. In this paper presents dynamic modeling of robot manipulator based on Lagrange Euler formulation using Mamdani based Fuzzy controller. The aim of designing fuzzy controller is to overcome the drawbacks of conventional PID controller because robot manipulators are nonlinear model so conventional PID controller cannot give...

in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

In this paper, a motion control approach for a 5-DOF cabledriven manipulator is designed, and the mechanical structure design of this anthropomorphic-arm is introduced. For the 5DOF manipulator, a hybrid algorithm is proposed to make the trajectory tracing of the manipulator in task space with high accuracy; the goals of the first phase of the robot arm have been meet. Although the method of mo...

This paper presents a modeling method for a Mobile Modular Robot(MMR) which is composed of a mobile platform and a modular manipulator, the kinematics analysis is made for both the mobile platform and the upper manipulator. Then the dynamic equations are formulated considering the nonholonomic constraints and the controller is proposed with both the redundancy resolution and optimization of nul...