This paper proposes to use a non-linear observer to build the state and the external force of flexible manipulator robots during their machining (composite materials) processes or Friction Stir Welding (FSW) processes. These two different processes have a problem in common: the flexibility of the robot can not be neglected, that is to say, the errors due to the deformation of the links should b...

Active auditory perception related tasks like sound localization and speech recognition have to be performed with high accuracy even while the robot is moving. However, the joints of the robot inevitably generate noise because of the active motors, i.e. ego-motion noise. This problem is very critical, especially in humanoid robots, because they tend to have a lot of joints and the motors are lo...

This paper discusses the identification of dynamic parameters of an industrial robot KUKA KR5 with all revolute joints and serial architecture. For this, the simplified model of the robot was taken into account by considering only those joints which normally operates orthogonal to the gravity vector. The first approach used for finding the dynamic parameters of this simplified model was by form...

simultaneous dislocation of both interphalangeal (ip) joints of same finger is a highly uncommon finding. and dislocation of metacarpophalangeal (mcp) joint along with interphalangeal joints of thumb are reported in literatures if, scarcely. here we are reporting the three cases, comprising of double dislocation of ip joints in little finger in two patients and simultaneous mcp and ip joint dis...

The analytical model of a robot dynamics represents an important tool for both the analysis and the synthesis of robot control algorithms. Based on the Euler-Lagrange formalism, the contribution presents a MATLAB-SIMULINK dynamic model of the 3-DOF anthropomorphic robot manipulator with revolute joints. A significant simplification of the model has been accomplished via the concentration of the...

Dexterous robot hand development is a very challenging and interesting research topic. A dexterous robot hand may serve as a prosthesis hand for disabled patients or to serve as a gripping device for robotic arms. In most of previous studies, the dexterous robot hands are developed based on the directed gear train controls and tendon wired controls. The directed gear train control based design ...

Robots are now requested to perform more and more complex tasks such as rescue activities in quite practical environments such as rough terrains. It is necessary for robots to have versatile joints that can flexibly adapt to such task environments and realize complex motions. It is desired to develop small and low cost actuators which can flexibly adapt to task environment. Flexibility in robot...

The leg structure with high dynamic stability can make the bionic biped robot have inherent conditions to perform elastic and highly motion. Compared quadruped robot, of is more complex has degrees freedom. This also complicates kinematic modeling. In this paper, kinematics model a established. configuration series parallel hybrid mechanism five active joints six passive joints. spring mass tha...

Synthesis of robots may be decomposed into two processes: structural synthesis (determine the general arrangement of the mechanical structure such as the type and number of joints and the way they will be connected) and dimensional synthesis (determine the length of the links, the axis and location of the joints, the necessary maximal joint forces/torques,. . .). The performances that may be ob...