Abstract: The PID trajectory tracking controller for Lagrangian systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point cannot be defined ...

Abstract: Several 3-DOF pure translational parallel manipulators have been reported recently. However, kinematic conditions of such translational parallel manipulators have not been studied deeply. Most ...

Abstract: One of the most important and widely used concepts in the kinematic analysis of robot manipulators is the reciprocal screw. However, there are no general expressions and easy methods to obtain ...

Abstract: For joint tracking control of flexible robots, this paper presents a two-step design of controller: the bandwidth modulation with modal feedback approach. First, we focus on the design of rigid ...

Abstract: A combined observer is synthesized by unifying the conventional linear state estimator and the perturbation observer to estimate plant uncertainties and disturbances. It enables robust state ...

Abstract: A robust tracking controller for mechanical systems is proposed by combining the robust perturbation compensator which effectively attenuates the perturbation to the plant with the nominal tracking ...

Abstract: A hard contact is an impact that occurs when the robot contacts a stiff environment with a high velocity. In the pretransition phase of the hard contact, it is important to maintain stability ...

Abstract: An efficient algorithm to simulate the workspace for a n-link redundant manipulator with rotating base is developed. The unique feature of the algorithm is its ability to automatically generate ...

Abstract: A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechanisms (PTOS) for high-speed motion, disturbance observer (DOB) for ...