In this paper, a learning controller for robot manipulators is developed. The controller is proven to yield in a semi-global asymptotic result in the presence of additive input and output disturbances. Lyapunovbased techniques are used to guarantee that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the viability of the proposed le...

In this paper, a combined adaptive-robust and neural network control based on backstepping design is proposed for trajectory tracking of two 6-DOF rigid link electrically driven (RLED) elbow robot manipulators moving a rigid object when actuator dynamics is also considered in the system dynamics. First, the authors derive kinematics and dynamics of the mechanical subsystem and the relations amo...

Many studies have been conducted for quantitative/qualitative analysis and comparison of various teleoperation schemes. Position-position, force-position and 4-channels are to name a few. However most of this research has been focused on electrically actuated manipulators. This paper documents the comparative study of various teleoperation schemes explicitly for hydraulic manipulators. Identica...

this paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (pso) algorithm. pso algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ise) as a performance criteria. in this paper, an improved pso using logic is proposed to increase the convergenc...

In the control of robot manipulators, it is customary to assume that the eigenvalues of the inertia matrix are uniformly bounded from below and above. However, in this article it is shown that not all manipulators possess this property. The class of serial robot manipulators with bounded inertia matrix, referred to as class B D manipulators, is completely characterized and it is shown that it i...

In this paper, a novel off-line robot simulation package is developed for the industrial robot manipulators. The package allows interactive simulation of fundamental robot manipulators classified by Huang and Milenkovic [1]. The new package using Matlab Graphical User Interface (GUI) commands provides an interactive environment for serial-link robot manipulators. In the new package, there are s...

This paper considers finite-time position control of robot manipulators. The robot manipulators are modeled by discontinuous differential equations. In this paper, we prove that the Nakamura’s local homogeneous controller based on a control Lyapunov function is valid to the position control of the robot manipulators, and show the effectiveness of the controller by experiments. Moreover, we comp...

Traditional rigid serial manipulators have a natural representation associated with them – namely the angles of all the joints in the robot arm. A complete framework that is built around this representation allows engineers to write down simple kinematic and dynamic equations for the robot. These equations enable robust control of rigid robot arms. In contrast, for flexible manipulators such as...

Abstract n this paper, a Robust Integral of the Sign Error (RISE) feedback controller is designed for a Rigid-Link Electrically Driven (RLED) robot manipulator actuated by direct current DC motor in presence of parametric uncertainties and additive disturbances. RISE feedback with implicitly learning capability is a continuous control method based on the Lyapunov stability analysis to compensat...