A resolved acceleration control (RAC) and proportional-integral active force control (PIAFC) is proposed as an approach for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The study emphasizes on the integrated kinematic and dynamic control strategy in which the RAC is used to manipulate the kinematic component while the PIAFC is implemented to compensate the dynamic effects including the bounded known/unknown disturbances and uncertainties. The effectivenss and robustness of the proposed scheme are investigated through a rigorous simulation study and later complemented with experimental results obtained through a number of experiments performed on a fully developed working prototype in a laboratory environment. A number of disturbances in the form of vibratory and impact forces are deliberately introduced into the system to evaluate the system performances. The investigation clearly demonstrates the extreme robustness feature of the proposed control scheme compared to other systems considered in the study.

This paper presents a stabilization control method for "x" configuration quadcopter using PDAFC (Proportional Derivative Active Force Control). PD is used to stabilize quadcopter, whereas AFC is used to reject disturbance uncertainty (e.g. wind) by estimating disturbance torque value of quadcopter. Simulation result shows that PDAFC is better than PD and AFC can minimize disturbance uncertainly effect. The sensitivity toward disturbance uncertainly can be set from sensitivity constant to get best performance of disturbance rejection. Constant disturbance simulation result shows that the best sensitivity constant ( ) is 0.15, the quadcopter maximum error is 0.125 radian and can stable in 5 seconds. Fluctuated disturbance simulation result shows that PDAFC with 0.18 sensitivity constant gives lowest RMS error value, there are 0.074 radian for sine disturbance, 0.055 radian for sawtooth disturbance, and 0.092 radian for square pulse disturbance.

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This paper presents algorithm ingenerating trajectory for sealant process using captured image. Cartesian robot as autosealant in manufacturing process has increased productivity, reduces human error and saves time. But, different sealant path in many engine models means not only different trajectory but also different program. Therefore robot with detection ability to generate its own trajectory is needed. This paper describes best lighting technique in capturing image and applies edge detection in trajectory generation as the solution. The algorithm comprises image capturing, Canny edge detection, integral projection in localizing outer most edge, scanning coordinates, and generating vector direction codes. The experiment results show that the best technique is diffuse lighting at 10 Cd. The developed method gives connected point to point trajectory which forms seala nt path with a point to next point distance is equal to 90° motor rotation. Directional movement for point to point trajectory is controlled by generated codes which are ready to be sent by serial communication to robot controller as instruction for motor s which actuate axes X and Y directions.