Many algorithms have been proposed that create a path for a robot in an environment with obstacles. Most methods are aimed at finding a solution. However, for many applications, the path must be of a good quality as well. That is, a path should be short and should keep some amount of minimum clearance to the obstacles. Traveling along such a path reduces the chances of collisions due to the dif...

The need for light weight yet highly mobile robotic platforms is driven by the limitation of available power. With unlimited energy, surface exploration missions could survive for months or years and greatly exceed their current productivity. The Sun-Synchronous Navigation project is developing long-duration solar-powered robot exploration through research in planning techniques and low-mass ro...

Industrial robots represent a promising, cost-saving and flexible alternative for machining applications. Due to the kinematics of a vertical articulated robot the system behavior is quite different compared to a conventional machine tool. This article describes the modeling of the robot structure and the identification of its parameters with focus on the analysis of the system’s stiffness and ...

Based on the study of the mature institutions at home and abroad, was carried out on the mechanical arm kinematics analysis, established the link coordinate system, the link parameters based on D H method to establish the kinematics equation, both the simulation results and the experiment we verified its feasibility. Using robotics toolbox toolbox of Matlab software, kinematics simulation of ro...

Cooperation between a small industrial robot and human operator is studied in this paper. To ensure safe human-robot interaction several safety features should be introduced into the industrial cell. Despite all the precautions undertaken the collision between robot and man can occur. In present study impact assessments of point robot end-effector with passive mechanical arm were carried out. T...

This chapter presents the theory, implementation, and application of a novel operations system for articulated robots with large numbers (10s to 100s) of degrees-of-freedom (DoF), based on virtual articulations and kinematic abstractions. Such robots are attractive in some applications, including space exploration, due to their application flexibility. But operating them can be challenging: the...

The generalized inertia matrix and its inverse are used extensively in robotics applications. While construction of the inertia matrix requires Θ(n) time, inverting it traditionally employs algorithms running in time O(n). We describe an algorithm that reduces the asymptotic time complexity of this operation to the theoretical minimum: Θ(n). We also present simple modifications that reduce the ...

This paper describes an enhanced version of our previously proposed adaptive framework for single shot motion planning. This framework is versitile, and particularly suitable for crowded environments. Our iterative strategy analyzes the characteristics of the query and adaptively selects planners whose strengths match the current situation. Contributions in this paper include an automatic metho...

We present a multiple Kinects based exteroceptive sensing framework to achieve safe human-robot collaboration during assembly tasks. Our approach is mainly based on a real-time replication of the human and robot movements inside a physics-based simulation of the work cell. This enables the evaluation of the human-robot separation in a 3D Euclidean space, which can be used to generate safe motio...

In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms under the virtual operational circumstances such as free of inertia, friction and gravity through independent compensation of inertia, friction and gravity. The forcefree control with independent compensation was verified with an experimental study of an actual industrial ...