This paper proposes a dynamic model of permanent-magnet spherical motor (PMSM) and
puts forward a dynamic decoupling control algorithm of the motor, using fuzzy controllers …

This paper concerns the problem of output feedback tracking (OFT) control with bounded
torque inputs of robot manipulators, and proposes a novel saturated OFT controller based …

Addresses the application of a fuzzy logic control system to trajectory tracking control of
robot manipulators. In the proposed application, the fuzzy logic control system plays the role …

The stability and robustness analysis of PD-plus-feedforward controllers comprised of a
nonlinear gain PD feedback controller and a nominal manipulator dynamics feedforward …

Abstract ¾ A motion control strategy for robot manipulators, with inverse dynamics and non-
linear proportional-derivative gains is presented. On account of a possible interaction of the …

A new application of teleoperation is to provide the sense of force to human-to-human
interaction over computer networks. This is also known as Telehaptics. To lower the cost of …

Modern telerobotics concepts seek to improve the work efficiency and quality of remote
operations. The unstructured nature of typical remote operational environments makes …

In this study we consider the control of a three link planar robot manipulator. Specifically we
use PD, PID and fuzzy type controllers. We then illustrate how PD, PID controllers can be …

This paper shows that fuzzy control systems satisfying sectorial properties are effective for
motion tracking control of robot manipulators. We propose a controller whose structure is …

The stability analysis of a class of nonlinear PD-plus-feedforward controllers is presented for
the tracking control of rigid robot manipulators. The controller structure is composed of a …