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The goal of this paper is to present the first controller that has been applied to an original system, which is a direct-drive submersible grinding robot. Since this application is quite recent, an analogy is made with machine tools equipped with linear motors, and the control methods that have been applied are reviewed. This review has led to the selection of the sliding-mode controller with the...
In this article an artificial neural network (ANN) approach for the obstacle avoidance of redundant robot manipulators is presented. The approach is based on formulating an inverse kinematics problem under an inexact context. This procedure permits to deal with the avoidance of obstacles with an appropriate and easy to compute null space vector; whereas the avoidance of singularities is attained by...
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