It is essential to know the dynamic parameters of the robot for its precise control and simulation. Philosophy of identification is based on finding the model using its input-output data. The identification equation of the manipulator is derived from Newton-Euler equations, using manipulator kinematic, i.e., geometric parameters and joint values as input and joint torque data as output. In this...

The Dynamical Systems Design department at the Eindhoven University of Eindhoven is actively researching the design and control of robotic systems. Examples are Amigo, the service robot competing in the RoboCup @home league, the mid-size league soccer robots of Tech United and the Tulip which is the humanoid robot competing in the RoboCup humanoid adult league. One of the new research activitie...

Industrial robot manipulators are important components of most automated manufacturing systems. Their design and applications rely on modeling, analyzing, and programming the robot tool-center-point (TCP) positions with the best accuracy. Industrial practice shows that creating accurate robot TCP positions for robot applications such as welding, material handling, and inspection is a critical t...

In this study the current usage of each associated joint of a humanoid robot (NAO) during stand up process is analyzed. This study is the extension of our previous study [1] where the energy consumption of single and overall joints of a NAO robot during the walking process was researched while keeping the same stiffness values for all joints. This paper analyzes current stiffness relation of in...

This paper describes a transputer-based parallel controller that was developed in the Center for Intelligent Systems at Vanderbilt University to control the Soft Arm robot. The Soft Arm robot is used in a robotic aid system, called ISAC, for the physically challenged. The controller uses a network of T800 transputers as the parallel processing nodes. The controller is composed of a master node,...

This paper presents a new approach of joint velocities redistribution for kinematic fault-tolerant control of redundant robot. The suggested approach unlike the locking of failed joints can distribute special velocities to some joints of robot before or after the trouble take place, so that the robot can avoid suffering from worse joint positions and orientations, and its fault-tolerant ability...

This paper presents a general methodology for the offline planning of trajectory of a six axis serial robot along a specified path. The objective of trajectory planning is to minimise a cost function when subjected to joint angles, joint velocities, acceleration, jerks, torques and gripping force constraints by considering dynamic of the robot. A trigonometric spline is used to represent the tr...

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...

The kinematics model of a robot arm (we are considering open kinematic chains) is described by a corresponding robot map having the configuration space as its domain and the workspace as codomain. In other words, the robot map assigns to every configuration of the joint parameters a unique point of the workspace of the robot arm. We briefly discuss the general introduction of the robot map wher...

This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented onseveral joints of a laboratory robot. The ...