Abstract: The path followed by a robotic manipulator is often defined by a sequence of Cartesian knots, i.e., position and orientation (location) of the end effector and the corresponding linear and ...

Abstract: In this paper an approach to motion and force control of multiple coordinated robots, based on an adaptive scheme, is developed. The approach can be used to control the motion of an object ...

Abstract: An approach to off-line programming of a robot system, in the presence of uncertainty in the location of the manipulator and objects in the workspace, has been developed. The approach is based ...

Abstract: In the context of kinematic control of a robotic manipulator if a certain set of task space coordinates (end effector position and orientation) are commanded then the corresponding configuration ...

Abstract: Sufficient conditions are proved for a robotic manipulator controller so that asymptotic tracking/regulation occurs, independent of dynamic parameter uncertainty, for a certain class of input ...

Abstract: The paper addresses the problem of end effector trajectory planning and control of seven degrees of freedom (DOF) kinematically redundant robots. An off-line optimal continuous path planning ...

Abstract: Control of a kinematically redundant robot arm requires an optimization procedure to determine the motion of the end effector. The criterion for optimization can be minimum motion time, minimum ...

Abstract: In this paper the stability of a control scheme for bilateral master-slave teleoperation is investigated. Given the nominal models of the master and slave dynamics, and using an approximate ...

Abstract: A new approach for solving the inverse kinematics problem iteratively is presented. The solution is based on the recursive estimation of a kinematics operator which maps the task space coordinates ...