The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangianassumed modes formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations are organized in a form similar to rigid manipulator equations. ...

This paper presents an Internet remote control interface for a MITSUBISHI PA10-6CE manipulator established for the purpose of the ROBOT museum exhibition during spring and summer 2004. The robotic manipulator is a part of the Intelligent Robotic Systems Laboratory at Heriot – Watt University, which has been established to work on dynamic and kinematic aspects of manipulator control in the prese...

Redundant robotic manipulators, singleor dual-arms, have received increasing use in assembly applications in industry. Correct dimension and use of such redundant robotic manipulators subject to assembly forces experience significant challenges due to the internal motion introduced by the kinematic redundancy. In robotic manipulator design, it is essential to consider the specification of assem...

In this paper a New RBF Neural Network based Sliding Mode Adaptive Controller (NNNSMAC) for Robot Manipulator trajectory tracking in the presence of uncertainties and disturbances is introduced. The research offers learning with minimal parameter (LMP) technique robotic manipulator tracking. decreases online adaptive parameters number to only one, lowering computational costs boosting real-time...

The increasing utilization of artificial intelligence and robots in various services healthcare makes as preferred intelligent agent model. Robotic evolution produces the optimal robotic innovation system or its subsystems, morphology, kinematics, control. An algorithm is programmed into control manipulator. This paper aims to identify comparisons algorithms for manipulators. study uses a syste...

A neural network based inverse kinematics solution of a robotic manipulator is presented in this paper. Inverse kinematics problem is generally more complex for robotic manipulators. Many traditional solutions such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. In this study, a three-joint robotic manipulator simulation software, ...

Mobile manipulator robotic systems (MMRSs) composed of a manipulator and a mobile platform are investigated in this paper. In order for the mobile manipulator robotic system (MMRS) to return to its initial state when the manipulator’s end-effector is requested to execute cyclical tasks, a quadratic program (QP) based repetitive motion planning and feedback control (RMPFC) scheme is proposed and...

We propose a generalizable natural language interface that allows users to provide corrective instructions to an assistive robotic manipulator in real-time. This work is motivated by the desire to improve collaboration between humans and robots in a home environment. Allowing human operators to modify properties of how their robotic counterpart achieves a goal on-the-fly increases the utility o...

PURPOSE To elucidate the merits of robotic application for vitreoretinal maneuver in comparison to conventional manual performance using an in-vitro eye model constructed for the present study. METHODS Capability to accurately approach the target on the fundus, to stabilize the manipulator tip just above the fundus, and to perceive the contact of the manipulator tip with the fundus were teste...