Modelling and Dynamic Tracking Control of Industrial Vehicles with Tractortrailer Structure Existing works on control of tractortrailers systems only consider the kinematics model without taking dynamics into account. Also, most of them treat the issue as a pure control theory problem whose solutions are difficult to implement. This paper presents a trajectory tracking control approach for a fullscale industrial tractortrailers vehicle composed of a carlike tractor and arbitrary number of passive full trailers. To deal with dynamic effects of trailing units, a force sensor is innovatively installed at the connection between the tractor and the first trailer to measure the forces acting on the tractor. The tractorxe2x80x99s dynamic model that explicitly accounts for the measured forces is derived. A tracking controller that compensates the pullingpushing forces in real time and simultaneously drives the system onto desired trajectories is proposed. The propulsion map between throttle opening and the propulsion force is proposed to be modeled with a fifthorder polynomial. The parameters are estimated by fitting experimental data, in order to provide accurate driving force. Stability of the control algorithm is rigorously proved by Lyapunov methods. Experiments of fullsize vehicles are conducted to validate the performance of the control approach.

JerkBounded Trajectory Planning of Industrial Manipulators * This paper presented an advance online scheme for industrial robotic manipulators, with an objective of jerkbounded trajectory planning. Minimal timejerk trajectory is obtained through a proposed objective, combining time execution which affects the efficiency and squared jerk which reflects the smoothness during the motion. The algorithm gives the reciprocation between the need for an adequately smooth trajectory and quick execution time, to limit the vibration during highspeed movements is the conventional condition. The need for a plane trajectory and the need for a speedy execution can be tuned by changing the values of two constants that weigh the two terms. Along the whole trajectory of fifthorder, by using Bsplines interpolation. Narrate strategy is applied by using a 6DOF manipulator UR5 and for this strategy no need to recondition the equipment. Also, for any industrial manipulator, it is easily implemented. The conclusion of the suggested contrivance has been tested in simulation and realtime industrial manipulator, also compared with several other trajectory planning methods provides good results.