This paper studies the problem of modeling and control of multiple cooperative underactuated manipulators handling a rigid object. A single underactuated manipulator is a nonholonomic system in most cases, but cooperative underactuated manipulator systems may not. We reveal holonomic property of such a system by presenting a smooth feedback controller subject to two conditions: 1) there are not...

This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The neural network learning is performed on-line by Kalman filtering. The contr...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject external interaction, potentially leading poor control performance. In this letter, we investigate the feasibility of adopting a model-free multiagent reinforcement learning (RL), namely deep Q network (MADQN), 2-degre...

This paper presents a terminal sliding control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. By exploring some properties of robot manipulators, the proposed approach simplifies significantly the standard scheme of a terminal sliding control. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of th...

Robotic manipulators with diverse structures find widespread use in both industrial and medical applications. Therefore, designing an appropriate controller is of utmost importance when utilizing such robots. In this research, we present a robust data-driven control method for the regulation 2-degree-of-freedom (2-DoF) robot manipulator. The nonlinear dynamic model 2-DoF arm linearized using Ko...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

this research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (tlrfm) for dynamic object manipulation (dom) missions. for the first time, achievement of dom task using a rotating one flexible link robot was taken into account in [20]. the authors do not aim to contribute on either trajectory tracking or vibration control of the end-...