In this study, as an application of robotics in hazardous tasks, a dual arm cooperative robot system is considered. The robot system is consisting of two planar arms; each of them has two degrees of freedom. The robot arms are in a task which requires handling and transporting a load in horizontal plane from its initial position to desired location with reliability. Dynamic equations of the phy...

The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the join...

The robot is a repeated task plant. The control of such a plant under parameter variations and load disturbances is one of the important problems. The aim of this work is to design Geno-Fuzzy controller suitable for online applications to control single link rigid robot arm plant. The genetic-fuzzy online controller (indirect controller) has two genetic-fuzzy blocks, the first as controller, th...

Vision has extensively expanded the robots capabilities, making the robot control problem more complex. To track a target with a robot arm in a three-dimensional space involves to use precise commands. We propose to insert a hierarchical neurocontroller based on CMAC (Cerebellar Model Articulation Controller) networks in a visual servoing loop. This hierarchical structure splits the robot’s wor...

In this paper, an independent joint position and stiffness adaptive control for a robot arm actuated by McKibben artificial muscles is reported. In particular, muscular and dynamic parameters of the system are supposed unknown. Adaptive control performance is tested in a one degree of freedom experimental setup and compared with PID control performance. The adaptive control scheme is then appli...

In search and rescue missions, the sensors on the Absolem mobile robot used in the TRADR project can fail due to environmental conditions like smoke and dust, making further robot operation difficult and dangerous for the robot. In such cases, the robot-mounted robotic arm can be used to gain information about the environment by obtaining tactile measurements from it. We propose an algorithm to...

In general service robots move autonomously in partially known environments. This paper proposes a collision avoidance and collision handling scheme to move through such working areas. Both schemes are implemented in a single paradigm: artificial and measured forces are combined, resulting in force/torque vectors. The force/torque vectors are superimposed and the robot’s joint velocities are de...

The robot is a repeated task plant. The control of such a plant under parameter variations and load disturbances is one of the important problems. The aim of this work is to design Geno-Fuzzy controller suitable for online applications to control single link rigid robot arm plant. The genetic-fuzzy online controller (indirect controller) has two genetic-fuzzy blocks, the first as controller, th...

We address a neural-oscillator-based control scheme to achieve biologically inspired motion generation. In general, it is known that humans or animals exhibit novel adaptive behaviors regardless of their kinematic configurations against unexpected disturbances or environment changes. This is caused by the entrainment property of the neural oscillator which plays a key role to adapt their nervou...