In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

A robot arm/manipulator finds its applications in variety of areas to takeaway the processes which are repetitive, highly multifaceted and perilous, destructive or of high-precision in its nature. Robot manipulators are intended to use in object sorting applications because of its high accuracy and precision operation. Robot manipulator shows many advantages when it is networked and automated w...

In this paper, conventional global and local indices – structural length index, manipulability measure, condition number and Global Conditioning Index (GCI) – have been examined for the workspace optimization of the sixteen fundamental robot manipulators classified by B. Huang and V. Milenkovic [Kinematics of major robot linkages, Robotics International of SME 2 (1983) 16–31]. To find the optim...

ABSTRACT Formulating the suitable mathematical models and deriving the efficient algorithms for a robot kinematics mechanism are very crucial for analyzing the behavior of industrial robot manipulators. Direct kinematics that determines the Cartesian position and orientation of the end-effector for the specified values of joint parameters is generally performed using homogenous transforms. In t...

A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum velocity norm and the repetitive motion), is proposed and investigated for coordinated path tracking of dual robot manipulators. Specifically, to ...

The present paper attempts to systematically identify the significant factors influencing the dynamic performance of robot manipulators. Two 3-RRR robot configurations planar and articulated arms are considered here to study. The robots kinematic and dynamic models are symbolically formulated. A simulation program has been developed to measure the dynamic performance of the robot manipulators u...

In this paper, we propose a model based disturbance attenuator (MBDA) with the conventional PD controller for robot manipulators. It is a generalization of MBDA structure in [l] and is .applied to a robot manipulator which is nonlinear. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relativ...

The major control problems for robot debuning mainly arise from uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired r...

Parallel robot manipulators comprise a mobile platform connected to a fixed base through three or more articulated links and are used extensively throughout industry for such diverse applications as high-precision positioning systems, fiber alignment, welding, robotic manipulators, automatic inspection systems, and so forth. Therefore, planning a trajectory to perform a specific task is one of ...

For the present paper, we developed an output feedback chattering position regulator for n-degreesof-freedom (DOF) robot manipulators with elastic and frictional joints. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations and ex...