The implementation of Industry 5.0 necessitates a decrease in the energy consumption industrial robots. This research investigates optimization for optimal motion planning dual-arm robot. objective function minimization problem is stated based on execution time and total robot arm configurations its workspace pick-and-place operation. Firstly, PID controller being used to achieve parameters. pa...

The article describes a description of fundamentally new design, mathematical model and experimental research flexible arm with an anthropomorphic gripper for industrial robot. advantage the proposed design robot in comparison known traditional technical solutions is achieved as close possible to functions human arm. This property significantly increases versatility when performing various tech...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to increase dimension and intensification system dynamics coupling, dual-arm robots remains an open challenge. In particular, current study cannot handle task capturing non-cooperative object lack pose constraint end-effectors. To address prob...

We describe a new theoretical framework for robot-aided training of arm movements. This framework is based on recent studies of motor adaptation in human subjects and on general considerations about adaptive control of artificial and biological systems. We propose to take advantage of the adaptive processes through which subjects, when exposed to a perturbing field, develop an internal model of...

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robo...

Abstract Mobile robotic platforms have become increasingly popular. Commercially available versions of mobile robots are designed to support human operators in typical production environments. They may be used for transferring parts from one place another, as well assisting the operator a series tasks, by utilizing dexterity their arm and end effector. This paper focuses on development novel ap...

the kinematics and dynamics of two industrial cooperating robots are presented in this paper. the noc (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. the joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. to this end, minimizing the cr...

An approach to vision-based control of calibrationfree robots is introduced. Similarly to living organisms, it uses an uncalibrated stereo vision system, but no world coordinates and no inverse pcrspective or kinematic transformations, and it enables an automatic adaptation to changing optical, mechanical and control parameters of the robot. We implemented the approach on a vision-guided calibr...

This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user inter...