The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the join...

The objective of this paper is to devise a scheme for generating arm gestures of humanoid robots. Inverse kinematics and the minimum-jerk trajectory method are used to generate trajectory of each gesture. To calculate the desired positions of arms, inverse kinematics is solved by the damped least-squares method. Human-like trajectory from initial position to desired position is generated by the...

This article presents a new methodology for measuring amount of errors in wheeled robots. Here a four-wheeled robot is tested and corrected using a new benchmark method that called “YMB mark”. This manner treats the systematic errors during the structural design and based on kinematics equations. Because the effect of design process, type of modeling and robot controller on these errors, first ...

We aim at planning multi-contact sequences of stances and postures for humanoid robots. The output sequence defines the contact transitions that allow our robot to realize different kind of tasks, ranging from biped locomotion to dexterous manipulation. The central component of the planning framework is a best-first algorithm that performs a search of the contacts to be added or removed at each...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

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.

In this paper, a dynamic analysis for 5 degree of freedom (DOF) robotic arm with serial topology is presented. The model the robot based on importing tri-dimensional CAD into Simulink®-Simscape™-Multibody™. in Simscape necessary and important step development mechanical structure robot. correct choice electric motors made according to resistant joint torques determined by running analysis. One ...

The mechanical structure of today’s machine tools is based on serial kinematics in the overwhelming majority of cases. Parallel kinematics with closed kinematics chains offer many potential benefits for machine tools but they also cause many drawbacks in the design process and higher efforts for numerical control and calibration. The Parallel Kinematics Machine (PKM) is a new type of machine to...

This paper presents a novel unified theoretical framework for differential kinematics and dynamics for complex robot motion optimization. By introducing 18×18 comprehensive motion transformation matrix (CMTM), forward differential kinematics and dynamics including velocity and acceleration can be written in a simple chain product like ordinary rotational matrix. This formulation enables analyti...