dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

A 5-SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot having also coplanar spherical joints has previously been studied as a rigid subassembly of a Stewart-Gough platform, it being denoted a line-plane component. It was shown that thi...

The majority of sample positioning systems in use at neutron and synchrotron beam line facilities around the world, may be accurately described as serial robot manipulators, i.e. they comprise a series of rotating or translating links connected together in a chain, with the tool or sample that is to be manipulated attached to one end. This characterization suggests that the methods of serial ro...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...

INTRODUÇÃO: A síndrome de Morgagni-Stewart-Morel é uma entidade clínica rara, caracterizada pela presença Hiperostose Frontal Interna (HFI) associada a desordens metabólicas, endócrinas e psiquiátricas. abrangência da dificulta um diagnóstico precoce relaciona alto grau morbidade. O difícil muitas vezes incidental. tratamento sintomático casos reservados podem receber abordagem cirúrgica OBJETI...

In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...

– one of the important applications of robots is in material handling and transport of various shaped objects. in cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. this paper presents an analytical method for minimizing the oscillation of a suspended object during transport. this method...