This paper considers finite-time position control of robot manipulators. The robot manipulators are modeled by discontinuous differential equations. In this paper, we prove that the Nakamura’s local homogeneous controller based on a control Lyapunov function is valid to the position control of the robot manipulators, and show the effectiveness of the controller by experiments. Moreover, we comp...

Traditional rigid serial manipulators have a natural representation associated with them – namely the angles of all the joints in the robot arm. A complete framework that is built around this representation allows engineers to write down simple kinematic and dynamic equations for the robot. These equations enable robust control of rigid robot arms. In contrast, for flexible manipulators such as...

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

In this paper a flexible software framework is presented, that allows for the easy configuration, modeling, simulation, and collision avoidance for the manipulators of a service robot. The configuration of the robot including the number of manipulators, their degrees of freedom, the corresponding Denavit-Hartenberg parameters, geometry, fieldbus parameters etc. can be specified easily in xml co...

In this paper, the inverse kinematics solutions for 16 industrial 6-Degrees-of-Freedom (DOF) robot manipulators with offset wrists are solved analytically and numerically based on the existence of the closed form equations. A new numerical algorithm is proposed for the inverse kinematics of the robot manipulators that cannot be solved in closed form. In order to illustrate the performance of th...

The DELTA robot and the manipulators derived from the DELTA robot are a relevant class of translational manipulators. In this paper, the mobility analysis of these parallel translational manipulators is developed in full. The manufacturing and mounting conditions that guarantee the pure translation of the platform are analytically derived. Moreover, it is demonstrated that these manipulators ca...

1.1 Robot manipulators Robot manipulators are well-known as nonlinear systems including strong coupling between their dynamics (Craig, 1996). These characteristics, in company with: 1) structured uncertainties caused by model imprecision of link parameters, payload variation, etc., and 2) unstructured uncertainties produced by un-modeled dynamics –such as nonlinear friction and external disturb...

This paper addresses the position control problem for robot manipulators. We present three new controllers with bounded actions supported by a rigorous stability analysis including the robot dynamics in the closed–loop using Lyapunov’s direct method and the LaSalle’s invariance principle. Besides the theoretical results, the performance of proposed controllers is illustrated by experimental res...

The kinematics of robot manipulators is a corner stone in the study of robotics in general. The computational complexity of the kinematics quite often prevents robotics instructors from using robots of general structure in their illustrative examples and assignments. The software discussed in this article, developed from recent research to support an undergraduate course in robotics, offers com...