—The above paper 1 presents the design of an adaptive/robust controller for uncertain electrically-driven robots with no velocity measurements. This note shows that the claim that velocity measurements are not required for control implementation is incorrect. This note addresses the adaptive/robust controller proposed in the above paper 1 by Su and Stepanenko for the position control of uncerta...

This paper addresses a neural-network-based chattering free sliding mode control (SMC) for robot manipulators including structured and unstructured uncertainties in both manipulator and actuator dynamics by incorporating a PID outer loop. The main idea is that the robustness property of SMC and good response characteristics of PID are combined to achieve more acceptable performance. Uncertainti...

This paper develops a new Lyapunov recursive design for the tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty by taking a tracking performance into account. The tracking performance is evaluated by L2-gain from a torque level disturbance signal to a penalty signal for the tracking error between outputs of the manipulator and desired trajectories. The...

parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. these parameters are particularly needed in implementation of a model-based controller for robot manipulators. in this paper, the inertial parameters of a manipulated rigid-body object have been estimated. the newton-euler equations will be employe...

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

Over the past several years, there has been a rapidly expanding interest in the the study and construction o,f a new class of robot manipulators which utilize high degree of freedom, or continuous, backbone structures. I n this paper, we consider and illustrate some basic properties of a class of “hyper-redundant” robots, known as “continuum” robots. W e base our analysis around remotely-driven...

Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical ...

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...

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...

In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obt...