A simple method of handling objects by cooperation of three PID positioncontrolled robots is proposed. In order to handle single object by multiple position-controlled robots, mechanical compliance is installed into each robot to avoid excessive inner forces due to the mutual positioning errors. First, necessary kinematic conditions required for installed mechanical compliance is reviewed. Then...

A contact-based calibration technique using a robot-mounted calibration probe, has been experimented with. The probe is to be implemented by utilizing a wrist-mounted force sensor. The technique is based on constraining the sampled robot joint poses to those where the probe end is in controlled contact with a planar surface. The paper illustrates how the technique may be used to achieve a joint...

In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the develop...

To improve the operation and the flexibility of the robot hand, in this paper we presented a new type pneumatic flexible robot hand based on the pneumatic artificial muscles and active flexible bending joints which developed in the previous research. The robot hand is imposed of five three-joint fingers; the middle finger is on the datum axis with the other four fingers orthogonal and symmetric...

A redundant robot has more degrees of freedom than what is needed to uniquely position the robot end-effector. In a usual robotic task, only the end-effector position tr'ajectory is specified. The joint position trajectory is unknown, and it must be selected from a self-motion manifold for a specified end-effector. In many situations the robot dynamic parameters such as link mass, inertia and j...

The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from th...

An ankle rehabilitation robot has been conceptualized and designed to realize the range of motion, muscle strengthening and proprioception training exercises for ankle joint. The robotic device is intended to help patients and therapists in their cooperative efforts for the treatment of impaired ankle joint as a result of injury or stroke. After analyzing the ankle joint anatomy and its motions...

In research on children’s language development, joint book reading is appreciated as being a situation beneficial for language learning. Motivated by this string of research, our aim was to explore whether the situation of joint book reading can be applied to a child–robot interaction. Before investigating whether and how this situation – when applied in child–robot interaction – can be used as...

Trajectory planning is the basis of robot control. A robot with seven degrees of freedom is the object of study. The shortest time is taken as the trajectory optimization target. The joint trajectory planning is carried out by using B-spline curve. Under the constraint of kinematics parameters, the time optimization of the motion trajectory is realized by using the improved genetic algorithm. T...