In recent years, soft computing methods, like fuzzy logic and neural networks have been  presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...

This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

– 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...

Fish-like robots have been widely used in intelligent surveillance and investigation because of their high swimming efficiency low traveling noise. Numerical simulations are usually selected to simulate the movement modes hydrodynamic characteristics fish-like during design manufacture. However, body-fitted grid method traditionally utilized numerical often has difficulty dealing with moving so...

The authors research and develop a flapping wing type robotic fish (shark ray robot) with flexible tail fin as an advanced underwater vehicle. The flapping wing consists of multijoints mechanism to get lift force and rotation moment for high maneuvering characteristics of motion. The tail fin is designed by elastic oscillating system and developed to produce strong propulsion force for higher s...