Mansour Kabganian

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Various modules have been introduced by the researches which each one has special capabilities and is able to perform some tasks as the basic segment of a microrobot system. In most of previous works a module had been designed to produce either translational movement or rotational movement. But this paper is concerned with a new flexible microrobot module(More)
An adaptive trajectory-tracking controller is developed for a single flexible-link manipulator with presence of friction in the joint and parametric uncertainties. The distributed-parameter dynamic modeling approach is used to design the controller. To eliminate large steady-state tracking error, an adaptive friction compensation technique is proposed based(More)
In this paper, an attitude control algorithm for a satellite is developed based on adaptive control using thruster actuators. For this purpose a twelve-thruster arrangement has been considered and the control torque for each thruster has been calculated. Then a Pulse Width-Pulse Frequency (PWPF) modulator is used for converting continuous controller signals(More)
An adaptive sliding mode control is investigated for rotational maneuvers of a flexible spacecraft. The model of the spacecraft consists of a rigid central hub and two flexible appendages. Using the sliding mode scheme, asymptotical tracking control of the slew angle and vibration suppression of the system is accomplished. Stability proof of the overall(More)
Cable-driven parallel robots inherit the advantages of serial and parallel manipulators, besides these robots do not have parallel robot's structural restriction. Utilizing the cables instead of conventional rigid arms in parallel and serial mechanisms causes challenges. Due to intrinsic properties of the cables, one of the challenges in designing and(More)