A method of robot end-effector pose accuracy improvement using joint error mutual compensation is presented. The developed method allows locating special robot configurations with the highest robotâ€¦ (More)

There is presented a design of a sliding mode position control algorithm for the PUMA 560 robot position control. The Lagrange-Euler model of a robot is used for calculation of robot law. Computerâ€¦ (More)

The mathematical model of an industrial robot is usually described in the form of Lagrange-Euler equations, Newton-Euler equations or generalized dâ€™Alambert equations. However, these equationsâ€¦ (More)

There is presented a method for calculation of inertial model for astatic system based on system step response. The method is simple and can be easily used in automatic control practice. Identifiedâ€¦ (More)

Abstract. There is presented a comparison of sliding mode control and decoupled sliding mode control algorithms for the PUMA 560 robot position control. The Lagrange-Euler mathematical model of theâ€¦ (More)

Multidimensional systems have found many applications in different fields: digital data filtering, image processing (Roesser, 1975), modelling of partial differential equations (Kaczorek, 1985;â€¦ (More)

Stability of a system described by the time-varying nonlinear 3-D Fornasini-Marchesini model is considered. There are given notions of stability of the system and theorem for stability and asymptoticâ€¦ (More)

There is presented the design of the feedforward neural network for calculation of coefficients of the robot model. Proposed method distinguishes the degrees of freedom and improves the performanceâ€¦ (More)