in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

I analyze the behavior of an agent (the manipulator) who makes announcements based on his private information in order to maximize the profit from short-term trades. Truthful announcement strategies can be supported with positive probability but only if investors have another source of information in addition to the manipulator’s announcement and/or if manipulation is occasionally punished. It ...

This paper describes the design, construction, and control of a planar three degree-of-freedom (dof) inparallel-actuated manipulator at Ohio University. The actuators are three pneumatic cylinders. Using real-time closed-loop feedback control for each actuator length independently, we develop inverse pose and resolved-rate control for this manipulator. The objective of this work is to implement...

In this work, the 3-RPRR, a new kinematically redundant planar parallel manipulator with six degrees of freedom, is presented. First the manipulator is introduced and its inverse displacement problem discussed. Then, all types of the singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the reachable and dexterous workspaces are obtained and compared with those of t...

This paper considers the problem of trajectory tracking of robotic manipulator system by using model free adaptive control (MFAC). The dynamic linearization technique is first introduced, and then the controller can be designed only by I/O data of the robotic manipulator system via MFAC approach, not includes any explicit model information. With some given conditions for controller parameters, ...

In this paper, a combined control of a mobile manipulator is studied, the platform is velocity controlled and the manipulator is torque controlled. Our objective is to develop a control method which generates the adequate articular torques and kinematics control to move the end-effector and the platform for executing the task efficiently without any collisions between the mobile manipulator (ma...

In this paper a simulink based approach is developed for trajectory tracking of robot manipulator. A robot manipulator is widely used in many industrial application. A robot manipulator moves the end effector to the configuration instructed by the user. The input from the main unit is transformed in to the desired configuration through forward kinematics. This configuration is sent to the robot...

The continuous path of a manipulator is often discretized into series independent action poses during tracking, and the inverse kinematic solution manipulator’s computationally challenging yields inconsistent results. This research suggests manipulator-route-tracking method employing deep-reinforcement-learning techniques to deal with this problem. paper takes an end-to-end-learning approach fo...

Shaking forces and shaking moments in high speed parallel manipulators are a significant cause of base vibrations. These vibrations can be eliminated by designing the manipulator to be shaking-force balanced and shaking-moment balanced. In this article an approach for the design and for the evaluation of high speed dynamically balanced parallel manipulators is presented and applied for a compar...