The robust non-singular fast terminal sliding mode (NFTSM) controller is adopted in this work to solve the problem of tracking trajectory a mobile manipulator (MM) suffering from uncertainties. NFTSM method has capability ensure convergence rate and provide good accuracy robustness against external perturbations parameter uncertainties (total disturbances). However, needs high discontinuous gai...

Recent investigations of underactuated systems have demonstrated the benefits control inputs that are impulsive in nature. Here we consider problem stabilization energy level sets exploiting braking. We with one passive degree-of-freedom (DOF) and set is a manifold where active coordinates fixed mechanical equals some desired value. A strategy comprised continuous intermittent braking presented...

Quantum teleportation is a useful quantum information technology to transmit states between different degrees of freedom. Here we report state transfer experiment in the linear optical system, transferring single-photon polarization degree freedom (DoF) another photon orbital angular momentum (OAM) via biphoton OAM entangled channel. Our experimental method based on technology. The differences ...

We present a novel approach for incorporating collision avoidance into trajectory optimization as a method of solving robotic motion planning problems. At the core of our approach are (i) A sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary. (ii) An efficient formulation of the no-collisions...

In this paper a new procedure for type synthesis of low-DoF parallel robots based on screw theory is presented. The motivation of these work is that for many industrial applications, in particular in the machine-tool field, less than 6 degree of freedom (6-DoF) may be needed to complete the task. For example, for milling operation in the machine-tool domain, the rotation of the platform around ...

This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear actuator, assists any attached payload to reach higher levels as and when required. The model of th...

This study aims to investigate the effects of degree freedom (DOF) and weight hand exoskeleton (HE) on joint mobility function (ease movement, movement range) in fine use activities. A three-digit passive HE prototype was built fit each 12 participants. Two DOF setups (three DOF, two DOF), digits’ levels (70 g, 140 g), barehand conditions were tested. productivity task (performed with Standardi...

Although industrial robots are common, a higher degree of manipulability might be required to expand the applications manipulators in field medicine. Modifying mechanical design robot as per workspace can perceived an optimization problem. Hence, novel spatial manipulator is designed for diagnostic apparatus using different algorithms. Standard Genetic Algorithm (SGA) and GA (Genetic Algorithm)...