A structured methodology for predictive control in robotics, bridging theoretical modeling with practical application is contributed, enabling precise local motion control during complex manipulations and interdepartmental transport tasks.
This thesis investigates advanced modeling and control strategies for robotic manipulators, focusing on the DLR-HIT II robotic hand and the KUKA LBR iiwa. It presents three core contributions that integrate simulation, model-based control, and data-driven methods to improve torque and position control under uncertainti...
This paper proposes an optimized control strategies for a dynamics 6-link robot manipulator using Model Predictive Control (MPC) and traditional Computed Torque Control (CTC). Two optimization methods are used for tuning of MPC controller, namely MPCbased Dandelion Optimization (DO) and MPCbased Genetic Algorithm (GA)....
Abd Elsttar, Moustafa Hassan, M. Essa· FME Transaction· 0 citations
This study presents the mathematical modeling and control of a 6-DOF 25 kg Digital Servo Educational Desktop Robotic Arm using a multi-loop control framework based on conventional PID and Particle Swarm Optimization (PSO)-tuned PID controllers. The robotic system was modeled as a nonlinear, coupled dynamic system incor...
Udeh Chukwuma Callistus, Ibeonu Ogochukwu Chinyere, Chukwujekwu John Okafor· International journal of re...· 0 citations
The potential of the proposed Adaptive Dynamic Programming (ADP) framework for improving trajectory-tracking performance in spherical robots under uncertain operating conditions is demonstrated.
Hadi Sazgar, Ali Keymasi‐Khalaji, Aliakbar Ghasemzadeh· Journal of Vibration and Con...· 0 citations
This paper proposes a Robust Subsystem-based Impedance Model Predictive Control (RSI-MPC) framework for the task-space control of flexible manipulators. Controlling flexible-link manipulators poses significant challenges due to their distributed dynamics, structural vibrations, and sensitivity to external disturbances....
S. M. Tahamipour-Z., S. Yaqubi, J. Mattila· Conference on Control Techno...· 0 citations
This paper presents the application of Model Predictive Control (MPC) on a three kinematic 3RRR chains (two revolute joints and one revolute actuator) for a 6-Degree-of-Freedom (6-DOF) spatial manipulator parallel plate mechanism designed similarly to a Stewart platform. The MPC controller is selected for its ability t...
A. Hussenien, B. Hussein, S. Megahed· Journal of Physics, Conferen...· 0 citations
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