In this paper, the inverse kinematic control of a 6-DOF robot manipulator is achieved using visual motor coordination (VMC). Here the positional data is converted into image plane data of a pair of cameras. The Redundancy resolution is a prime goal for the robot manipulator with higher dimensional joint space than the task-space. In this work, we present five schemes for this redundancy resolut...

In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...

This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-dist...

Robot arm is often used in industry with various tasks, one of which a pick and place. Rapid prototyping robot arms needed to facilitate the development many industrial especially on laboratory scale. This study aims design small-scale three degree freedom (3-DoF) for place mission using inverse kinematics method. The mechanical robotic system designed Solidworks four servo motors as actuator. ...

Robot development process is complex and often very difficult to manage particularly when development processes are interconnected. It is not only a matter of determining physical features, but, beyond that, design, ergonomic, “time-to-market” and other demands must be taken into consideration as well. Consequently, „Rapid Prototyping (RP)” is the keyword not only in industry, but also in robot...

The paper presents the study of dynamics a general DoF robot, highlighting some important new aspects in dynamic design certain robot. An improved method positioning robot inverse kinematics is presented, then approaching forces acting on but also regarding determination loads rotary actuators. Finally, made functioning with and interesting aspects.

This paper presents a controller for whole-arm obstacle avoidance for the slave robot in an unilateral teleoperated robotic system. The slave controller is free of robot inverse kinematics model, and it is conformed of two parts. First a cartesian PID controller is used to render closed loop system stability. The second controller part is the on-line solution of a dynamic optimization problem. ...

In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model....

In order to enhance dexterity of a robot hand, it is said that the robot should be designed to have a redundant number of degrees-of-freedom(DOF). However, in redundant robotic systems, the inverse kinematics from task-description space to joint space becomes ill-posed. Therefore the problem of determination of joint motions becomes difficult. In order to avoid this ill-posedness, many methods ...

This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Corioliscentrifugal and gravity terms for the dynamics of a robot are computed using spatial inertia tensors. With the assumption that the link lengths or the distance between the joint axes are accurately known, it will be shown th...