In this paper, we discuss a motion control of a twowheeled mobile robot. In the design of a controller for the system, a kinematic model is usually used; The wheels don’t skid at all and the mobile robot is regarded as a 3-dimensional 2-input nonholonomic system without drift. Many controllers based on the kinematic model have been proposed. However, in a real world, the wheels may skid on the ...

At the Advanced Photon Source (APS), the desire to combine sample handling, sample positioning or goniometer functionality into one piece of equipment has provided the impetus for the development of a precision six degree-of-freedom robot with approximately 2 μm dynamic positioning uncertainty. This specification is driven by the need for a positioning uncertainty that should be 10 to 20 percen...

This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

This report describes the kinematic and dynamic modeling of a hexapod robot. The 6-DOF (degrees of freedom) analytical kinematic and dynamic equations of motion are derived following the classical Newtonian mechanics. Under certain task-specific assumption, it is shown that the complex 6-DOF model can be simplified, resulting in an abstract model. Specifically, the motion of the robot on the ho...

The electric arc furnace (EAF) is one of the popular methods of steel production from steel scraps. The plasma arc is used in EAF to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal is drained from the EAF through the tap hole. Nowadays, it is critical to use Automated/robotic tools for opening the tap hole with oxygen lancing. Because many workers have been blinde...