This paper presents a virtual force based approach for real-time collision-free trajectory planning for manipulators. This approach defines a virtual attractive force to drive an end-effecter of a manipulator along a preplanned path and uses virtual repulsive force calculated based on 3-dimensional force field method (3D-F) to protect the whole robot arm. When all these external virtual forces ...

This paper analyses the torque characteristics of the shoulder and elbow joints of a humanoid robot arm that is useful for an object lifting and transferring task instead of human beings. For the purpose, some typical human lifting behaviors are considered, and various simulations for lifting and transferring an object have been performed by employing a humanoid robot arm having a simple config...

The implementation of Industry 5.0 necessitates a decrease in the energy consumption industrial robots. This research investigates optimization for optimal motion planning dual-arm robot. objective function minimization problem is stated based on execution time and total robot arm configurations its workspace pick-and-place operation. Firstly, PID controller being used to achieve parameters. pa...

This paper proposed a kinematic model and its calibration scheme to further improve an industrial robots absolute positioning accuracy over the entire workspace. To demonstrate effectiveness in simplified kinematics, this only targets SCARA (Selective Compliance Assembly Robot Arm)-type robot. The includes not link length errors rotary axis angular offsets, widely known as Denavit-Hartenberg (D...

Controlling a high degree of freedom humanoid robot arm to be dextrous and compliant in its movements is a critical task in robot control. The dynamics of such flexible and light manipulators have a highly non-linear nature, making analytical closed form solutions using rigid body assumptions inappropriate. In this thesis, we use Locally Weighted Projection Regression to learn online the invers...

As robots are increasingly used in human-cluttered environments, the requirement of human-likeness in their movements becomes essential. Although robots perform a wide variety of demanding tasks around the world in factories, remote sites and dangerous environments, they are still lacking the ability to coordinate with humans in simple, every-day life bi-manual tasks, e.g. removing a jar lid. T...

BACKGROUND The increasing number of opportunities for human-robot interactions in various settings, from industry through home use to rehabilitation, creates a need to understand how to best personalize human-robot interactions to fit both the user and the task at hand. In the current experiment, we explored a human-robot collaborative task of joint movement, in the context of an interactive ga...

In this paper we present an application of ALECSYS, a distributed learning classifier system, to the control of a robot arm. ALECSYS is initialised with a set of randomly generated rules and is trained to control a robot arm whose task is to reach a non moving light source. At this point of our research our results are relative to the simulation of a real robot arm (IBM 7547 with a SCARA geomet...

This paper presents a summary of the system of "Reconfigurable Brachiating Space Robot". The robot consists of a center hub and three 6 degree-of-freedom arms with an end-effector and a pivot, which has a reconfigurable mechanism, for each arm. This space robot is capable of moving over the Japanese Experimental Module of the International Space Station in a brachiating manner and also of arm r...

A method for finding parallel arm robot structures with the same performance as the FlexPicker robot from ABB is presented. The method is very simple and based on systematic clustering of the links connected to the actuated platform of the robot. In the case of 3 DOF actuation, 3 new useful clustering schemes have been found. With these clustering schemes as a starting point, new parallel arm r...