Mobile mechanical manipulators are one of the automation aspects which were revealed in last years of twentieth century. These machines assume the responsibility of human and gradually expand the domain of their activities in industry. This paper is a presentation of the Sweeper Robot designed in the Robotic Laboratory of Iran University of Science and Technology. The original design of this ro...

the control law (3) does not only improves the transient performance, but also provides smoother outputs. It is important to stress that a better performance can still be achieved with (28) and (30). However, as discussed in Remark IV.1, increasing gains would not only cause more peaks in the outputs, but it might also yield saturation, especially for 2. V. CONCLUSION The tracking control probl...

Simulation is a powerful visualization, planning, and strategic tool in different areas of research and development. The simulation has also a very important role in robotics. In the paper we focus on different tools for the dynamic simulation of robot manipulators, especially on those based on MATLAB/Simulink or using general dynamic engines and graphic languages. We present and compare some t...

In this paper, we propose a robust visual feedback controller with integral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robustness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effective...

In this paper, we develop a fully adaptive decentralized controller of robot manipulators for trajectory tracking. With high-order and adaptive variable-structure compensations, the proposed scheme makes both position and velocity tracking errors of robot manipulators globally converge to zero asymptotically while allowing all signals in closed-loop systems to be bounded, even without any prior...

A new concept for controlling of underactuated robot manipulators is presented by using switching computed torque method. One fundamental feature of the present approach is to use the partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Dynamic model of an underactuated robot system is directly analyzed to synthesize partly stable, computed torque controllers wit...

This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configurationindependent desired impedance. For give...