Abstract: The current control systems adopted by most industrial manipulators are “open loop” designs based only upon kinematic consideration. Their servo gains are fixed and there is no flexibility of ...

Abstract: The success of a robot force and position (hybrid) control scheme relies extensively upon its robustness against uncertainties such as unknown external disturbance or modeling errors in the ...

Abstract: We consider a control design problem for a class of uncertain systems. The salient features of the problem are fourfold. First, the uncertainty is time-varying. Second, the system is nonlinear. ...

Abstract: Mechanical vibration is a common phenomenon observed in the operation of many machines and arises from the inertia effect of machine parts in motion. While many control system design methods ...

Abstract: A new nonlinear robot control scheme is proposed in this paper which is robust against modeling errors and unknown disturbance. The control input consists of a nonlinear part and a linear ...

Abstract: Laboratory experiments of runoff production in shallow soils were conducted on plots consisting of a bedrock layer, an intermediate soil layer, and a crushed stone cover layer. Artificial rainfall was supplied in varying ...