Mechanical assembly by robots has traditionally depended on simple sensing systems and the robot manufacturers programming language. However, this restricts the use of robots in complex manufacturing operations. An alternative to robot programming is the creation of self-adaptive robots based on the adaptive resonance theory (ART) artificial neural network (ANN). The research presented in this ...

This paper presents methodologies to discretise nominal robots paths extracted from 3-D CAD drawings. Behind robot path discretization is the ability to have a robot adjusting the traversed paths so that the contact between robot tool and work-piece is properly maintained. In addition, a hybrid force/motion control system based on Fuzzy-PI control is proposed to adjust robot paths with external...

Robots play an important role in performing operations such as welding, drilling and screwing parts in manufacturing. Optimizing the robot arm movement time between different points is an important task which will minimize the make-span and maximize the production rate. But robot programming is a complex task whereby the user needs to teach and control the robot in order to perform a desired ac...

Kinematic robot calibration is the key requirement for the successful application of offline programming to industrial robotics. To compensate for inaccurate robot tool positioning, offline generated poses need to be corrected using a calibrated kinematic model, leading the robot to the desired poses. Conventional robot calibration techniques are heavily reliant upon numerical optimisation meth...

The Trikebot is the result of a ground-up design effort chartered to develop an effective and low-cost educational robot for secondary level education and home use. This paper describes all aspects of the Trikebot, including chassis and mechanism; control electronics; communication architecture; robot control server and student programming environment. Notable innovations include a fast-build c...

Nowadays, robots are penetrating human lives and carry out many tasks that would have been impossible for machines just few decades ago. One can usually get an “end user” narrowor single-purpose robotic solution for a specific task with a user interface providing control within the scope of the given task. Another possibility is to get a more generalpurpose robot and design a custom control sys...

This paper presents a design of a compact heavy duty robot for automated CNC loading and unloading process control. The robot can load up to 165kg and complete motion control and positioning with high accuracy. The design has been carried out in several modules including mechanical parts, electronic parts, control system, and programming. It brings several innovations such as high loading capac...

Robot programming requires knowledge of embedded systems, mechatronics, principles of kinematics and locomotion, sensors and actuators, control algorithms, behaviour planning and communication protocols. A complexity of robotics domain underscores the need for developing a domain ontology that describes domain concepts, their properties, restrictions and relationships between concepts. The pape...

Robot programming languages are emerging from their experimental stage and entering an assessment phase. Their main features are illustrated and a parallel with ADA is proposed. The comparison is positive for ADA, in the sense that ADA provides most of the required capabilities. The ability of reasoning on object models and taking decisions will play an increasing role in the future. In this ca...

Designing robots and robot controllers is a highly complex and often expensive task. However, genetic programming provides an automated design strategy to evolve complex controllers based on evolution in nature. We show that, even with limited computational resources, genetic programming is able to evolve efficient robot controllers for corridor following in a simulation environment. Therefore,...