This short note points out an improvement on the robust stability analysis for electrically driven robots given in the paper. In the paper, the author presents a FAT-based direct adaptive control scheme for electrically driven robots in presence of nonlinearities associated with actuator input constraints. However, he offers not suitable stability analysis for the closed-loop system. In other w...

Although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. Today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

  A new computational technique is presented to find the optimal base position of dual arm robots in order to carry maximum allowable load. The maximum allowable load on a desired trajectory is limited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematic redundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, load works...

The term "INDUSTRY 4.0" or "fourth industrial revolution" was first introduced at the fair in 2011 in Hannover. It comes from the high-tech strategy of the German Federal Government that promotes automation-computerization to complete smart automation, meaning the introduction of a method of self-automation, self-configuration, self-diagnosing and fixing the problem, knowledge and intelligent d...

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

stability and performance are two main issues in motion of bipeds. to ensure stability of motion, a biped needs to follow specific pattern to comply with a stability criterion such as zero moment point. however, there are infinity many patterns of motion which ensure stability, so one might think of achieving better performance by choosing proper parameters of motion. step length and step perio...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

In this note, we show that the impedance control strategy proposed in the paper is not feasible from practical implementation point of view. Next, a robust impedance controller is proposed for electrically driven robots using Fourier series (FS). The fact that robots' actuators have limited voltage is also considered in controller design procedure. In comparison with other impedance controllers...