A semi-autonomous robot for autonomous installation and removal of aircraft warning spheres on overhead wires of electric power transmission lines is described here. Hybrid systems methodology was used to model the basic modes of operation of the robot, which includes both autonomous and tele-operation possibilities. Several sensors and actuators including a custom made gripper are used to acco...

Abstract Cable-driven parallel robot (CDPR) is a type of high-performance that integrates cable-driven kinematic chains and mechanism theory. It inherits the high dynamics heavy load capacities significantly improves workspace, cost energy efficiency simultaneously. As result, CDPRs have had irreplaceable roles in industrial technological fields, such as astronomy, aerospace, logistics, simulat...

This paper deals with the mechanical aspects of robot vision and focuses on the design and implementation of a high-performance system. The system is called CeDAR (Cable Drive Active vision Robot). As part of the research at the Robotic Systems Laboratory (RSL) to develop real-world vision systems, CeDAR is designed for speed and accuracy through its novel use of cables in zerobacklash transmis...

In present work a development of the passive approach is made to design of human oriented robots. Model of robots with controllable compliance modules on the base and cable transmissions is developed that creates a natural security in the interaction with human. In the paper computer model of 4R robot is developed and simulated using Solid Dynamics 2004+ program software. Computer simulations o...

This report introduces R&D results of aerial robot systems development for urban search and rescue (USAR). Different types of aerial robot systems have been developed and they are systematically combined so as to offer continuous information gathering in a suffered area. Autonomous helicopters are collecting disaster situation data from the sky for USAR first operation planning. Then, a blimp-t...

In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation. We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space. We explore these novel ideas with results from two large-scale sensor network and robot experiments involving...

This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position ...

A new planar robotic exoskeleton for upper-limb motor assessment has been developed. It provides independent control of a user’s shoulder, elbow, and wrist joints in the horizontal plane. The lightweight backdriveable robot is based on a novel cable-driven curved track and carriage system that enables the entire mechanism to be located underneath the user’s arm. It has been designed to extend t...

It is difficult to install the sensor on end effector of a minimally invasive surgical robot with narrow space within which obtain position and grasping force; thus, elongation effect cable-driven instruments results in low precision control, may damage tissues organs patients. A novel transmission backlash compensation force saturation limitation algorithm based tension displacement model cabl...