Mohammad Zarei-nejad

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Cooperative control of manipulator robotic systems to grasp and handle an object is studied in this paper. Based on the passive decomposition approach, the cooperative system is decomposed into decoupled shaped and locked systems. Then, regressor free adaptive control laws for the decoupled shaped and locked systems are proposed. Despite existing shaped and(More)
This paper presents the research work on a 1 degree of freedom (DOF) force reflecting tele-micromanipulation system. This system enables a human operator to position remote objects very precisely having haptic feedback. The slave robot is a nano-positioning piezo-actuator with hysteretic dynamics. This intrinsic nonlinearity results in positioning(More)
The piezoelectric actuator (PEA) accuracy is limited due to hysteresis nonlinearity as well as mechanical loading effect. Investigation of the fundamental properties of the piezoceramics depicts that the external mechanical loads cause inclination in hysteresis loop can deteriorate tracking performance furthermore. Other limiting problem is the rate(More)
In this paper we present a linear time invariant controller for bilateral teleoperation of a pair of N-DOF linear robotic systems under constant time delay. Our framework uses position and velocity signals to achieve position tracking in free motion. It also uses force feedback for compensating the human/environment disturbances to achieve position(More)
The slave robot in this research is a 1-DOF piezo actuator which includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the(More)
The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction(More)
Ball screw driven systems are widely used for motion control applications. In such systems, friction dominates the resulting performance and it should be compensated to achieve high precision in positioning and tracking. Hereby a friction model is introduced to describe dynamic behavior of the system and then three control strategies i.e. sliding mode(More)