The closed-loop structure of a parallel robot results in complex kinematic singularities in the workspace of the mobile platform. Singularity analysis become important in design, motion planning, and control of parallel robots. Focusing on the instantaneous velocities of passive joints, a new formulation approach is proposed for the instantaneous kinematics and singularity analysis of a class o...

This paper deals with a new up-stair motion planning algorithm for a biped robot. The whole body of the humanoid can be visualized as a kinematically redundant robot, where the number of joints are more that the required degree of freedom. Based on the ZMP constraint equation, a sequential redundancy resolution algorithm is proposed, which ensures the ZMP trajectory, the planned operational mot...

This paper proposes a model-based iterative learning control algorithm for time-varying systems with a high convergence speed. The convergence of components of the tracking error can be controlled individually with the algorithm. The convergence speed of each error component can be maximised unless robustness for noise or unmodelled dynamics is needed. The learning control algorithm is applied ...

This project consists in the implementation of a teleoperation system of the arms of a NAO robot using the Kinect camera from Microsoft as a way to teach the robot by demonstration of preset movements. The concept proposes an innovative method that turns possible a control with high manipulation freedom, using completely non-invasive technology, by the means of a camera that is able to capture ...

In this paper, a novel MIMO Neural NARX model is used for simultaneously modeling and identifying both joints of the 2-axes PAM robot arm’s inverse and forward dynamic model. The highly nonlinear cross effect of both links of the 2-axes PAM robot arm are thoroughly modeled through an Inverse and Forward Neural MIMO NARX Model-based identification process using experimental input-output training...

A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in this paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints ar...

Motion planning for constrained systems is a version of the motion planning problem in which the motion of a robot is limited by constraints. For example, one can require that a humanoid robot such as a PR2 [45] remain upright by constraining its torso to be above its base or require that an object such as a bucket of water remain upright by constraining the vertices of the object to be paralle...

Traditional rigid serial manipulators have a natural representation associated with them – namely the angles of all the joints in the robot arm. A complete framework that is built around this representation allows engineers to write down simple kinematic and dynamic equations for the robot. These equations enable robust control of rigid robot arms. In contrast, for flexible manipulators such as...

The manipulability index is used to quantify manipulators velocity transmission capabilities or the dexterity of robot. The index is a measure of manipulating ability of robotic mechanisms in positioning and orienting the end effectors. The index allows to quantify the proximity of the robot to a singularity, which is ideal for identifying paths of welding with continuous and soft movements at ...

We consider the problemof reconfiguringthe joints of a redundant robot driven only through end-effector velocity commands. Dependingon the chosen kinematic inversion scheme, this system behavior is subject to differential constraints that may be integrableor not. An analogy is established with non-holonomic systems, allowing the use of existing techniques to designcartesianinputs that bring the...