In the future of automated production processes, manipulator must be more efficient to complete certain tasks. Compared single-arm robots, dual-arm robots have a larger workspace and stronger load capacity. Coordinated motion planning multi-arm is problem that solved in process robot development. This paper proposes an obstacle avoidance path method for based on goal probability bias cost funct...

This paper proposes a method to improve the robustness of a robot arm control program. The control program is generated in simulation by genetic programming. The robustness is measured in the real world. To improve the robustness, the control program is evolved with multiple robot arm configurations. The result shows that the robustness of a control program is improved by 10% compared to a cont...

The use of coordinated multi-arm robotic systems allows to preform manipulations of heavy or bulky objects that would otherwise be infeasible for a single-arm robot. This paper concisely introduces our work on coordinated multi-arm control [Salehian et al., 2016a], where we proposed a virtual object based dynamical systems (DS) control law to generate autonomous and synchronized motions for a m...

This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and interna...

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....