Abstract: This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. ...

Abstract: A system consisting of several flexible joint robot arms is studied in this paper. The paper addresses the motion and force control problem of such systems. A coordinating controller, consisting ...

Abstract: This paper presents a novel design paradigm as well as the related detailed mechanical design embodiment of a mechanically hybrid mobile robot. The robot is composed of a combination of parallel ...