This paper introduces an originally designed tracked robot. This robot belongs to the variable geometry single-tracked vehicle (VGSTV) category. Two active joints are used to control the shape of the vehicle and the tension of the tracks. Thus, it becomes possible to adapt the shape of the robot and the ground/robot contact points to the obstacle by controlling the joints. This paper presents s...

The purpose of this paper is to present a new kind of imitation control architecture for a biped robot. A human operator can interact with the robot and control it to walk. The robot is built based on the skeletal structure of humans. Partial joints are controlled by the operator wearing motion sensors in the body and other joints controlled by the controller. This paper describes the difficult...

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...

The electric arc furnace (EAF) is one of the popular methods of steel production from steel scraps. The plasma arc is used in EAF to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal is drained from the EAF through the tap hole. Nowadays, it is critical to use Automated/robotic tools for opening the tap hole with oxygen lancing. Because many workers have been blinde...

This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and interna...

Virtual remote laboratories have already been successfully implemented in educational centers for practical learning of mechatronics and robotic systems. This article presents the development a virtual articulated UR-type robot, designed as an tool that is suitable programming evaluating both inverse kinematics control robot independent joints. The 3D model was developed Blender V2.79 software ...

This paper presents a methodology to analyze dynamics of flexible space robot using bond graph. In case of space robots the position and orientation of the satellite main body may change when the manipulator moves. Motion of the space robots also induces vibrating motions in structurally flexible manipulators. Researchers working on terrestrial flexible robot arms principally have focused on is...

This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented onseveral joints of a laboratory robot. The ...

Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The propo...