We propose an automatically deployable robust control scheme for modular reconfigurable robot manipulators, which accounts noisy velocity measurements, yet it maximizes the tracking performance while avoiding chattering effects. Our proposed approach adapts to any of possible compositions given sets modules. The stability is guaranteed by exploiting use a recursive Newton-Euler with interval ar...

Fault tolerance is increasingly important in modern industrial robotic manipulators, especially those operated in remote and hazardous environment. Faults in robotic manipulator can cause economic and serious damages. So the robots need the ability to detect as well as tolerate failures, allow effectively coping with internal failures and continue performing designated tasks without the need fo...

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot m...

This paper presents an analysis and design method for human/robot integrated systems, especially for the coordination of human and robot formations based on a group of distributed mobile manipulators. The key for the human/robot integrated system is to create a common motion reference that can be understood by both human and the robots in the formation. First, the perceptive reference frame is ...

A robot is generally considered as a physical machine which can move around, operate a mechanical limb and exhibit intelligent and autonomous behavior in public. However, a surgical robot is not like the common robots which have the ability of autonomous action. A surgical robot is a collection of manipulators which just follow the surgeon’s hand motions. The manipulators of a surgical robot re...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analy...