Following the idea of using first-order time derivatives, this paper presents a general
recurrent neural network (RNN) model for online inversion of time-varying matrices. Different …

In this paper, for joint torque optimization of redundant manipulators subject to physical
constraints, we show that velocity-level and acceleration-level redundancy-resolution …

This article aims at presenting an introductory overview of the theoretical framework of
control barrier functions (CBFs) and of their application to the design of safety-related …

The Falcon is a relatively inexpensive 3-DOF haptic device made by Novint for the gaming
industry. The controller uses a form similar to that of the delta-robot configuration and …

The cybertwin and 6G-enabled Industrial Internet of Things (6G-IIoT) are the critical
technologies that create the digital counterparts for physical systems and enable the near …

In this paper, a novel design method for adaptive tracking control is proposed for robot finger
dynamics. First, the dynamics are described by considering the robot finger as a large-scale …

This paper describes the MATLAB/SIMULINK realization of the PUMA 560 robot manipulator
position control methodology. This paper focuses on design, analyzed and implements …

In this article, we discuss industrial robot characteristics of accuracy and repeatability. The
factors that affect these characteristics are identified, and an error tree is developed …

Inverse kinematics is the basis for controlling the motion of robotic manipulators. It defines
the required joint variables for the robotic end-effector accurately reach the desired location …

The works presented in this paper deal with the control of a highly nonlinear and uncertain
system using the new setting of “Model-Free Control” and its related intelligent Proportional …