This paper presents a complete forward and inverse kinematics solution for SG5-UT, 5 DOF robotic arm. The solution is intended to be implemented on a microprocessor to control the arm in any environment. The control presented in the paper makes it possible to manipulate the arm to any reachable position. The algorithm derived in this paper has been successfully tested on the arm. This arm is an...

This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates from Cartesian joint angle space. translated angles are then as reference signal robot dynamics using controller. stability robustness of proposed control...

Abstract More and more industrial robots need high-precision trajectory control, but the traditional PID control is difficult to achieve. The simulation diagram pose of collision free mechanism are drawn by using rosty software. At same time, through experiment MOTOMAN-HP3 robot, VC + application program call external interface function motocom32 software, planning realized. linear circular rob...

This paper presents the gait generation and mechanical design of a humanoid robot based on a limit cycle walking method-Virtual Slope Control. This method is inspired by Passive Dynamic Walking. By shortening the swing leg, the robot walking on level ground can be considered as on a virtual slope. Parallel double crank mechanisms and elastic feet are introduced to the 5 DoF robot leg, to make t...

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like manipulators and multi-fingered hands. Associated with such DOF redundancy relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a ...

This paper gives an overview on current and forthcoming research activities of the Collaborative Research Center 588 “Humanoid Robots — Learning and Cooperating Multimodal Robots” which is located in Karlsruhe, Germany. Its research activities can be divided into the following areas: mechatronic robot system components like lightweight 7 DOF arms, 5-fingered dexterous hands, an active sensor he...

To improve the efficiency and accuracy of kinematic calibration, selection measurement configurations is an important issue. In previous research, optimal mainly are selected by maximizing observability indices. However, traditional indices only focus on identification error parameters, while purpose robot calibration to accuracy. solve inconsistency between index concept residual represent dis...

The two translational degrees-of-freedom (DOF) and one rotational DOF (2T1R) planar parallel mechanisms (PMs) have the characteristics of simple structures, kinematic dynamic models, ease control allow for a variety application prospects. This paper concentrates on derivations 5-DOF hybrid manipulators based synthesized mechanisms. To understand effect constraint motion rigid body clearly, meth...

Continuum robots are increasingly being used in industrial and medical applications due to their high number of degrees freedom (DoF), large workspace ability operate dexterously. However, the positional accuracy conventional continuum with a backbone structure is usually low stiffness often-lengthy driving cables/tendons. Here, this problem has been solved by integrating additional mechanisms ...