3 papers
eess.SY2024
Adaptive-Sliding Mode Trajectory Control of Robot Manipulators with Uncertainties
Mustafa M. Mustafa, Carl D. Crane, Ibrahim Hamarash
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturba…
eess.SY2024
Dedicated Nonlinear Control of Robot Manipulators in the Presence of External Vibration and Uncertain Payload
Mustafa M. Mustafa, Carl D. Crane, Ibrahim Hamarash
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementab…
eess.SY2024
Equilibrium Formulation of a 3 DOF Compliant Mechanism using Sylvester Dialytic Method of Elimination
Mustafa M. Mustafa, Carl D. Crane, Ibrahim Hamarash
This paper studies the equilibrium formulation of a three degree of freedom planar compliant platform mechanism, which is in contact with a solid body in its environment. The mecha…