Industrial robot arms are an essential part of automated manufacturing and are used due to the facts that they are highly repeatable; can be calibrated to be sufficiently accurate and they eliminate human error. They automate tasks such as component assembly; welding; light machining; spray painting; etc. The industrial serial robot arm architecture is by far the most ubiquitous in modern day m...

This paper studies the precision motion control of single-rod hydraulic actuators with time-varying unknown inertia loads. The swing motion control of a robot arm driven by a single-rod hydraulic actuator (a scaled down version of industrial backhoe loader arm) is used as a case study. During the swing motion, the eeective mass acting on the hydraulic actuator varies greatly with the swing angl...

Recording the variation of joint angles as a feedback to the control unit is frequent in articulated arms. In this paper, magnetic sensor AS5045, which is a contactless encoder, is employed to measure joint angles of 6R robot and the performance of that is examined. The sensor has a low volume, two digital outputs and provides a high resolution measurement for users; furthermore its zero positi...

In order to better study the trajectory of robot motion, a motion trajectory planning and simulation based on 6-DOF manipulator arm robot is designed. Three and five polynomial methods are adopted to plan motion trajectories. The advantages and disadvantages of the three and five polynomial trajectory planning are summarized. The trajectory planning in the right angle space can make the robot a...

The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used...

This paper presents a component of the on-line tasklevel planning system of the mobile, two-arm robot KAMRO, which is being developed at our Institute. This component generates sequences of explicit robot motions for achieving the goals of elementary assembly operations, and supervises their execution by the real-time robot control system, according to implicitly specified pick-and-place operat...

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...

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...