Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...

The design, analysis and implementation of a robot arm system, which is expressed towards its performance with an analytical model by using LabVIEW and embedded system tools was presented in this article. Mathematical modeling of kinematics plays an essential role in design and implementation of a robot arm control. The projected work was focused to control the end effector of the robot arm to ...

This paper proposed the implementation of haptic-based robot which is following human by using fundamental sensors on robot arms without additional sensors. A Robot arm has 6 DOF(6 angle detection devices) to operate like human arm. Robot follows human by interacting with robot arm(s) and human hand(s), as human follows human by hand(s) Key-Words: Intelligent robot, Human robot interaction, Fol...

This paper provides an algorithm to grasp a moving object on a belt conveyer by a robot arm with 8 DOF. A method of recognition and position measurement of the moving object is developed and built in the robot arm with a visual servo system which is consisted of two CCD cameras. To find the best grasping posture of the robot arm, the robot coordinate system and the camera coordinate system is i...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

  A new computational technique is presented to find the optimal base position of dual arm robots in order to carry maximum allowable load. The maximum allowable load on a desired trajectory is limited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematic redundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, load works...

Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...