The purpose of the senior design project, from the course description of objectives is "To provide students a complete design experience, including the necessity to set design goals and objectives, integrate knowledge, exercise engineering judgment, plan to meet a budget and schedule, to work as a team member, and to communicate in writing." To accomplish these objectives our group, Helping Han...

This paper utilizes the idea of “robot ergonomics” in which robotic tasks are evaluated according to ergonomics criteria. Robot performance is continuously reeorded in terms of total motion for each robotic link, the load applied on each joint, and the accuracy of each motion. Evaluating robot motion can assist in the design of a robotic cell, where robot position and layout of peripheral equip...

The 4 degree of freedom robot arm a table tennis has variety trajectories. In order to improve the response and success rate shots, we used joint space trajectory planning method establish kinematic model with joints as variables, by combining it kinematics, obtained relevant parameters for each arm. Simulation tests physical were carried out obtain more accurate

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 proposes the design of a 4 DOF exoskeleton robotic arm for rehabilitation. This proposed robot arm can be used easily with either the user’s left or right arm. This robot arm is designed to have low inertia, high stiffness link, and zero backlash transmissions. It supports the patient’s arm during rehabilitation which is a repetitive task and takes a period of time. Each joint of thi...

Robots are rapidly becoming part of our lives, coexisting, interacting, and collaborating with humans in dynamic and unstructured environments. Mapping of human to robot motion has become increasingly important, as human demonstrations are employed in order to “teach” robots how to execute tasks both efficiently and anthropomorphically. Previous mapping approaches utilized complex analytical or...

ontrol of cooperating multiple robots has been studied extensively in the past decade [ 11-[ 121. The special feature of multi-arm systems compared to single-arm systems is that closed kinematic loops exist which present a challenge for both motion control C and internal force control. On the other hand, single-arm constrained robots also require motion control and constraint force control. How...