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...

Various control schemes for a single flexible robot arm are considered in this paper. They require a limited amount of on-line computations. All trials are performed on the physical process and embody a conclusive, although partial, comparison for this kind of single axis robot. They are representative of some major applied research directions which captured the attention of many researchers th...

Learning a complex dynamic robot maneuver from a single human demonstration is difficult. This paper explores an approach to learning from demonstration based on learning an optimization criterion from the demonstration and a task model from repeated attempts to perform the task, and using the learned criterion and model to compute an appropriate robot movement. A preliminary version of the app...

In this paper, we present a new method for humanoid robot arm motion planning satisfying multiple constraints. In our method, the humanoid robot arm motion generation is formulated as an optimization problem. Four different constraints, which cover a wide range of humanoid robot tasks, are considered: minimum time, minimum distance, robot hand acceleration and constant joint angular velocity. R...

Robot vision is usually based on well-calibrated system in which the large numbers of calibration parameters cause error-prone and imprecise behaviour of the system. The fact that humans use a visual feedback intuitively initiated efforts to develop the robot control system based on agents for 3D control of robot arm without calibration. Using the simulator of 3-segment robot arm, the operators...

The focus of this work is to design, develop and implement enhanced control and competitive robot arm thick and short cost. Design of four degree of freedom and talent of robot arm is to complete the accurate and simple tasks, such as optical materials processing, will be integrated into the mobile platform, as an assistant for the industrial labor force. Between the robot arm equipped with wea...

The control system of a robot operating in a human-centered environments should address the problem of motion planning to generate collision-free motions for grasping and manipulation tasks. To deal with the complexity of these tasks in such environments, different motion planning algorithms can be used. We present a motion planning framework for manipulation and grasping tasks consisting of di...

An error minimization in the robot arm dynamics improves the operations and the performance of production systems.This paper attempts to analyse the performance of an industrial robot by comparing the solutions obtained using RK method and Single-Term Haar wavelet series (STHWS) method. The exact solution of the system of equations representing the arm model of a robot, has been compared with t...