Abstract. Path planning is a key technique used in the operation of bending robots. In this paper, an obstacle-avoidance path-planning method 5 degrees freedom (5 DOF) robot based on improved artificial potential field proposed. Firstly, connecting-rod coordinate system DOF Cartesian established to determine equation motion trajectory robot. Secondly, view problem local minimum (APF) and failur...

An efficient path planning algorithm, for multi degrees of freedom manipulator robots in dynamic environments, is presented in this paper. The proposed method is based on a local planner and a boundary following method for rapid solution finding. The local planner is replaced by the boundary following method whenever the robot gets stuck in a local minimum. This method was limited to 2-DoF mobi...

In previous works, the authors showed that using robot-assisted steerable electrode array insertions can significantly reduce the insertion forces compared to non-steerable electrode arrays. In addition to steering the electrode array, it is possible to change its angle of approach with respect to the scala tympani. This paper focuses on determining the relevance of changing the angle of approa...

This paper presents the control of ARCHI, a 3-dof over-actuated parallel mechanism, designed as a subpart of a 5-axis hybrid machining robot. Control strategies of the parallel sub-mechanism (3 dof / 4 actuators) managing the internal constraint on the mechanism are proposed and experimental results are discussed.

the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons’ walking is proposed. It has two 6-DOF legs, two 1-passive-DOF ...

For the present paper, we developed an output feedback chattering position regulator for n-degreesof-freedom (DOF) robot manipulators with elastic and frictional joints. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations and ex...

This paper presents analytical and experimental results on a new hybrid tele-manipulation environment for micro-robot control under nonholonomic constraints. This environment is comprised of a haptic telemanipulation subsystem (macro-scale motion), and a visual servoing subsystem, (micro-scale motion) under the microscope. The first subsystem includes a 5-dof (degrees of freedom) force feedback...

in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

Image-based servozng systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid camera-to-target geometric constraints. Satisfying such constraints requires that the robot motors have suficient velocity bandwidths, and oflen these bandwidths are limited. This paper lays down the foundation for a p...

We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a highDOF robot and moving obstacles, our approach efficiently computes accurate collision probability between the robot and obstacles with upper error bounds. Furthermore, we describe a prediction algorithm for...