Skilled mechanical arms of consanguine relationship formed by joints the relative motion of the adjacent interfaces enable, have been connected. Ability to perform a variety of pre-programmed robotic manipulator in various industries. Skilled mechanical arms in recent years as a significant progress has been completed. House repair and easier to work with them as well and fit and optimal relati...

A large part of the new generation of computer numerical control systems has adopted an architecture based on robotic systems. This architecture improves the implementation of many manufacturing processes in terms of flexibility, efficiency, accuracy and velocity. This paper presents a 4-axis robot tool based on a joint structure whose primary use is to perform complex machining shapes in some ...

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

Unlike ground-base robot manipulator, the space manipulator has no fixed base. The dynamic reaction forces and moments due to the manipulator motion will disturb the space base, especially, when the space robot is in free-floating situation, The longer the motion time of space manipulator is, the greater the disturbance to the base will be. Hence, it is essential to resolve the attitude balance...

Impedance control is one of the most effective control methods for interaction between a robotic manipulator and its environment. Robot impedance control regulates the response of the manipulator to contact and virtual impedance control regulates the manipulator’s response before contact. Although these impedance parameters may be regulated using neural networks, conventional methods do not con...

This paper presents trajectory tracking based on a sliding mode controller for the Puma robot manipulator. is most commonly used in industries; it has great flexibility compared to other manipulators like SCARA, which decreases its precision. In order increase precision Sliding Lyapunov stability approach this work. The first motion control block Controller designed and link with Robot manipula...

As cooperation between robots and humans becomes increasingly important for new robotic applications, human-robot interaction (HRI) becomes a significant area of research. This paper presents a novel approach to HRI based on the use of a virtual surface. The presented system consists of a virtual surface and a robot manipulator capable of tactile interaction. Multimedia content of the virtual s...

Recent advancements in mechatronics has led to tremendous development of application of robots for industrial applications involving high health hazards, rough working conditions and difficult to reach locations. Robot assisted welding is one such high risk operation for human being. The industrial arc welding robots are either mounted on the floor, table or on overhead rails. In this scenario,...

Abstract: A redundant mobile manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degrees of freedom (DOF) onboard manipulator is investigated in this paper. Redundancy for such a robot is exploited to avoid tipover via online adjusting self-motions. The dynamic model is established and a new tipover criterion is proposed considering inertia, gravity and acceleration. An onl...

An improvement method for the pose accuracy of a robot manipulator by using a multiple-sensor combination measuring system (MCMS) is presented. It is composed of a visual sensor, an angle sensor and a series robot. The visual sensor is utilized to measure the position of the manipulator in real time, and the angle sensor is rigidly attached to the manipulator to obtain its orientation. Due to t...