Advanced robot control schemes require an accurate knowledge of the dynamic parameters of the manipulator. This article examines various issues related to robot dynamic calibration, from generation of optimal excitation trajectories to data acquisition and filtering, and experimental inertial and friction parameter estimation. In particular, a new method is developed for the determination of op...

Laser-guided automated material handling tasks proposed here has the potential to reduce position data acquisition time while improving safety since there is no need for an operator to manually teach or guide a robotic system in its unstructured workspace which is considered most time consuming in programming robotic tasks. The main objective of the proposed research is to develop a new useful ...

Abstract. Articulated-morphology robots, with applications ranging from the basic to the sophisticated, have increased in importance and popularity, especially with decreasing costs of computers and increased studies on feasibility. The development of a complete mathematical model for industrial, selective compliance articulated (SCARA) robot arm including its servomotor dynamics, and simulatio...

Contour control of a robot arm is an act of the end-effector tip being moved along a reference Cartesian path, with an assigned velocity. When torque saturation occurs, and lasts for some time, contour deteriorations result. In addition, system delay dynamics also causes contour deteriorations. In this paper, an offline trajectory generation algorithm is described, which achieves both optimum a...

Traditional methods based on the product of exponentials (POE) formula are parametrically continuous and complete for the calibration of the kinematic parameters of serial robots. However, these methods are not minimal due to the constraints of joint twists. This paper puts forward a new POE-based model, whose parameters are totally independent and conform to the formula of minimality. This is ...

We present a new optimal control approach to robust control of robot manipulators in the framework of Lin et al [7]. Because of the unknown load placed on a manipulator and the other uncertainties in the manipulator dynamics, it is important to design a robust control law that will guarantee the performance of the manipulator under these uncertainties. To solve this robust control problem, we f...

This paper is concerned with achieving a higher rate at which a robot operation involving part mating can be carried out while free of excessive contact forces. It is shown that the rate is primarily limited by the robot end effector's lateral transient response to the contact forces, while the response depends mainly on the link inertia characteristics and joint compliances. Both factors were ...

Assembly errors can occur in a robotic assembly system. In this paper, a method that predicts an assembly error is proposed. It considers that assembly errors occur under the condition that the geometric trajectory of a mated part and the relational position and orientation of a base part are outside the allowable tolerance. A certain point, which is determined by using a physical light reflect...

In this paper we present a stereo vision based system for segmentation and location computation of partially occluded objects in bin picking environments. Algorithms to segment partially occluded objects and to find the object location [midpoint,x, y and z co‐ordinates] with respect to the bin area are proposed. The z co‐ ordinate is computed using stereo images and neural ...