(FFNN) is used to compensate for the robot dynamics. The FFNN computes the required torques to drive the robot manipulator to achieve desired tracking. The stability of combined PI kinematic and FFNN computed torque is proved by Lyapunov theory. Simulation results are carried out for 3 DOF articulated robot manipulator to evaluate the controller performance.

Inverse kinematics analysis plays an important role in developing a robot manipulator. But it is not too easy to derive the inverse kinematic equation of a robot manipulator especially robot manipulator which has numerous degree of freedom. This paper describes an application of Artificial Neural Network for modeling the inverse kinematics equation of a robot manipulator. In this case, the robo...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

The control circuit for a single-link manipulator robot constructed on a proportional-diierential controller is considered in the presence of various random nonlinear continuous and discontinuous perturbations. Results on diierent kinds of stability are obtained. Computer simulations of the motion of a robot hand for an actual robot-manipulator are presented.

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fu...

Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

Robot manipulators are built to meet certain pre-determined performance requirements. The question of whether the robot will have the desired functionality (e.g. dexterity, accuracy, reliability, speed, etc.) needs to be answered before the robot is actually built. We have developed a software package that can greatly ease the design of a generic 6-DOF manipulator with a spherical wrist. Our pa...