Effective mass of robot is considered great significance in enhancing the safety human-robot collaboration. In this paper, effective investigated using different joint configurations. This investigation executed two steps. first step, position each changing alone, whereas positions other joints are fixed and then determined. second all together, From process, relation between configurations can...

Living organisms have various kinds of flexibility and robustness which are realized by “yuragi,” i.e. biological fluctuations or noises. Bacterial motion is a form of noise-based motion, since bacteria can move towards a higher concentration of some chemical which they prefer even though they have only a limited 1-DOF of flagella for mobility. Bacteria also have only a limited sensory device w...

This paper gives the structure optimization of fuzzy control systems based on genetic algorithm in the MATLAB environment. The genetic algorithm is a powerful tool for structure optimization of the fuzzy controllers, therefore, in this paper, integration and synthesis of fuzzy logic and genetic algorithm has been proposed. The genetic algorithms are applied for fuzzy rules set, scaling factors ...

This paper presents a weighted path planning approach for a light weight robot coming into compliant contact with the environment, as well as robot‐ environment interaction enabled impedance control. Using a joint torque sensor, Cartesian impedance control is introduced to realize the manipulator compliance control. Then the weighted path planning approach is de...

For high-speed control of robots, a good knowledge of system modelling is necessary to obtain the desired bandwidth. In this paper, we present a cartesian robot with a pan/tilt unit in end-effector (5 dof). This robot is implemented with powerful direct drive AC induction machines. The dynamic model, parameter identification and model validation of the robot are studied (including actuators). T...

Abstract: This paper deals with an efficient application of a model based predictive control in parallel machines. A receding horizon control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. The model based predictive control and the ...

A novel balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.