Rating of Planar Kinematic Chains Using Design Parameters

Dynamic Effect of Prismatic Joint Inertia on Planar Kinematic Chains

The effect of prismatic joint inertia on dynamics of planar kinematic chains with friction is investigated. The influence of the prismatic joint inertia on the position of the application point of the joint reaction forces and on the dynamic response of a planar robot arm with feedback control is analyzed. Larger values of the initial condition response characteristics are observed for larger v...

A dexterity comparison for 3-DOF planar parallel manipulators with two kinematic chains using genetic algorithms

Extracting Planar Kinematic Models Using Interactive Perception

Interactive perception augments the process of perception with physical interactions. By adding interactions into the perceptual process, manipulating the environment becomes part of the effort to learn task-relevant information, leading to more reliable task execution. Interactions include obstruction removal, object repositioning, and object manipulation. In this paper, we show how to extract...

SCALAR - Simultaneous Calibration of 2D Laser and Robot's Kinematic Parameters Using Three Planar Constraints

Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot’s kinematic parameters and the measurement system’s extrinsic parameters are required. However, the existing calibration approaches are either too cumbersome or require another expensive external measurement system such as laser tracker or measurement ...

Kinematic Design and Description of Industrial Robotic Chains

Today, industrial robots can replace humans in carrying out various types of operations. They can as well serve machine tools as to carry out various tasks like welding, handling, painting, assembling, dismantling, foundering, forging, packaging, palletizing ....in different areas of the mechanical, car, aerospace, automotive, electronics ... and other industries. However, the complexity of the...