Purpose One of the development trends of robots is to enable robots to have the ability of anthropomorphic manipulation. Grasping is the first step of manipulation. For mobile manipulator robots, grasping a target during the movement process is extremely challenging, which requires the robots to...

Purpose This paper aims to present an adaptive fuzzy sliding mode controller with nonlinear observer (AFSMCO) for the redundant robotic manipulator handling a varying payload to achieve a precise trajectory tracking in the task space. This approach could be applied to solve the problems caused...

Purpose – The purpose of this paper is to address the synthesis and experimental application of a generalized predictive control (GPC) technique on an Orthoglide robot. Design/methodology/approach – The control strategy is composed of two control loops. The inner loop aims at linearizing the...

Purpose – The purpose of this paper is to present a control system for a heavy duty industrial robot, including both the control structure and algorithm, which was designed and tested. Design/methodology/approach – An industrial PC with TwinCAT real‐time system is chosen as the motion...