The purpose of this research is to synthesize industrial robot hand mechanisms. Investigations on DOF(F), complexity and the structure (Graph) will be presented. Therefore, a kinematic structure table of robot hand mechanisms can be generated. The advantages of using this reference table are as follows: * Identification of the kinematic structure of robot hand mechanisms for robot hand standard...

The inverse kinematics solution of an industrial robot may provide multiple robot configurations that all achieve the required goal position of the manipulator. In the absence of obstacles, multiplicity resolution can be achieved by selecting the robot configuration closest to the current robot configuration in the joint space. An evolutionary approach based on a real-coded genetic algorithm is...

Robot calibration is a widely studied area for which a variety of solutions have been generated. Most of the methods proposed address the calibration problem by establishing a model structure followed by indirect, often ill-conditioned numeric parameter identification. This paper introduces a new inverse static kinematic calibration technique based on genetic programming, which is used to estab...

During the last few years, the number of research and development projects aimed at building hybrid robot has been increasing at a rapid rate. In this paper, a brief review on hybrid robot is presented. The main motivation for using hybrid robots and various applications of hybrid robots are discussed. Both published research papers and registered patents on hybrid robots are described. Various...

A strategy to improve the performance of current commercial industrial robots is presented in this paper. This strategy involves cooperation of two robotic manipulators: the robotic controlled impedance device (RCID) and a commercial industrial robot. The RCID is a small six degrees-of-freedom (DOF) high bandwidth force–impedance controlled parallel manipulator, developed at the School of Engin...

The paper describes a virtual-reality-based approach to programming construction robots. This approach is needed because of the ever changing conditions and the nature of the construction work. As a result, construction robots need much more programming relative to their industrial counterparts, this being a labor intensive task using known methods. Unfortunately the massive programming investm...

Manipulator control based on the artificial potential fields method has been shown to be a good solution for real-time obstacle avoidance and navigation in complex, dynamic environments. This paper presents an implementation of this approach for a Mitsubishi RV-6S industrial robot with an emphasis on the use for obstacle avoidance. The robot is able to perform simple navigation tasks while avoi...

In this paper we generalize previous work in which the fixed points of dynamical systems were used to construct obstacle-avoiding, goalattracting trajectories for robots to more complex attractors such as limit cycles in the form of closed planar curves. Following the development of a formalism for dealing with a mechanical system, some of whose coordinates are constrained to follow the traject...