In the conventional sliding mode control, a discontinuous switching control signal is applied. It makes the system invariant to parametric uncertainty and external disturbance, but also causes actuator chattering. This paper considers a tracking control of robot manipulators using a dynamic sliding mode control, where a global invariance is achieved and the resulting control signal is chatterin...

In order to successfully implement several control laws, a uniform upper bound for the Jacobian of the gravity vector is necessary. However, not all joint configurations of robot manipulators insure the existence of such a bound. In this paper we fully characterize the class of robot manipulators for which the Jacobian of the gravity vector is uniformly bounded. The results in this paper can be...

Modular robot manipulators have many advantages over conventional integrated robot manipulators, including flexibility, re-configurability, versatility, and low-cost with massive production. However, the lack of control precision has been a long standing drawback in MRM applications until now. In this paper, a VDC-based control and communication system using embedded FPGA (field programmable ga...

An unsolved ancient problem in position control of robot manipulators is to find a stability analysis that proves global asymptotic stability of the classical PID control in closed loop with robot manipulators. The practical evidence suggests that in fact the classical PID in industrial robots is a global regulator. The main goal of the present paper is theoreticall...

A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator’s dynamics based on...

This paper presents a general recurrent neural network (RNN) model for online control of time-varying robot manipulators. The robot manipulators with different setting parameters work cooperatively on an unknown curve tracing. Each joint of the manipulator is respectively provided a learning method to optimize trajectory by the training RNN model. In this paper, the proposed RNN model shortens ...

Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network ...

High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a settling time design method and a parame...

Title Type control of flexible link manipulators using neural networks PDF control of flexible link manipulators using neural networks 1st edition PDF control of robot manipulators in joint space advanced textbooks in control and signal processing PDF constructive neural networks PDF digital neural networks PDF complex valued neural networks PDF control of redundant robot manipulators theory an...

This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. In order to increase the robustness of the control algorithm, image moments were chosen to be the visual features which describe the objects from the image. A visual predictive architecture is designed to solve tasks addressed to robot manipulators with an eye-in-hand...