This paper presents a discrete-time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A modified recurrent high order neural network (RHONN) structure is used to identify the plant model and based on this model, a discrete-time control law is derived, which combines block control and sliding mode techniques. The neural network learning is ...

There is a need for highly redundant manipulators to work in complex, cluttered environments. Our goal is to plan paths for such manipulators efficiently. The path planning problem‘ has been shown to be PSPACE-complete in terms of the number of degrees of freedom (DOF) of the manipulator. We present a method which overcomes the complexity with a strong heuristic: utilizing redundancy by means o...

We analyze the theories of gravity modified by a generic nonderivative potential built from the metric, under the minimal requirement of unbroken spatial rotations. Using the canonical analysis, we classify the potentials V according to the number of degrees of freedom (DoF) that propagate at the nonperturbative level. We then compare the nonperturbative results with the perturbative DoF propag...

A study of the kinematic characteristics for the five degree-of-freedom (DOF) spatial parallel micromanipulator is presented. The objective of this work is to introduce for the first time a structural and geometrical model of a novel five degree-of-freedom spatial parallel micromanipulator, the analysis of the effective and useful workspace of the micromechanism, present the obtained analytical...

This paper deals with an efficient application of a model-based predictive control scheme in parallel mechanisms. A predictive functional control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed...

A haptic interface controlled in impedance mode should present its user with a uniform force capability matching the human hand. This paper reviews a mechanism design methodology that maximizes a workspace-inclusive isotropy index. Force maximization in coreless or voice-coil motors is also considered in order to maximize haptic interface acceleration. Example designs of a planar 3-DOF haptic m...

They used 3-D cylinders as primitives to construct a synthetic human body model. Their model consists of 10 joints and total 22 degree of freedom (DOF), as shown in Fig. 1. However, this model has limited extensibility because it is operated only in their system. In other words, the model should be integrated before the system starts, because BAPs are calculated according to the preintegrated m...

Unlike conventional rigid actuators, soft robotic technologies possess inherent compliance, so they can stretch and twist along every axis without the need for articulated joints. This compliance is exploited here using dielectric elastomer membranes to develop a novel six degrees of freedom (6-DOF) polymer actuator that unifies ordinarily separate components into a simple cubic structure. This...

Source mask optimization (SMO) is a leading resolution enhancement technique in immersion lithography at the 45-nm node and beyond. Current SMO approaches, however, fix the numerical aperture (NA), which has a strong impact on the depth of focus (DOF). A higher NA could realize a higher resolution but reduce the DOF; it is very important to balance the requirements of NA between resolution and ...