This study provides a complete Selective Compliance Assembly Robot Arm (SCARA) wafer inspection system. system mainly includes two phases. In the first phase, SCARA manipulator acts as an application platform, and depth camera is used to position vector of point cassette together with single-axis visual frame so that can automatically perform calibration in working area. second ready for optimi...

In this paper we propose a new algorithm for the kinetostatic calibration of a robot based on contact force measurement. The proposed calibration methodology, called kinetostatic calibration, does not require the use of a sensor to measure the robot pose, avoiding all problems related to the use of external devices for this measurement. On the contrary, the robot gripper must be equipped with a...

This paper presents the application of an adaptive fuzzy logic controller with feed-forward component (AFLCF) to the Selective Compliance Assembly Robot Arm (SCARA Robot). The feed forward torque component is computed on-line using an artificial neural network (ANN) which has been trained off-line. This feed-forward component is designed to deliver the ideal torque component to the robot derive...

This paper presents trajectory tracking based on a sliding mode controller for the Puma robot manipulator. is most commonly used in industries; it has great flexibility compared to other manipulators like SCARA, which decreases its precision. In order increase precision Sliding Lyapunov stability approach this work. The first motion control block Controller designed and link with Robot manipula...

This paper deals with the implementation of a hybrid force/velocity controller for the contour tracking of an object of an unknown shape performed by an industrial robot manipulator. In particular we propose the use of a gain scheduling approach in order to cope with the configuration dependent dynamics of the manipulator in constrained motion and therefore in order to allow to obtain satisfact...

In this paper we present an application of ALECSYS, a distributed learning classifier system, to the control of a robot arm. ALECSYS is initialised with a set of randomly generated rules and is trained to control a robot arm whose task is to reach a non moving light source. At this point of our research our results are relative to the simulation of a real robot arm (IBM 7547 with a SCARA geomet...

A simple, yet effective approach to grasp feasibility analysis is presented. The goal is to reduce the computational complexity of such process, whose complexity makes the detection of all feasible grasps for a certain object unavoidable in most occasions. The approach is based on cascading filters of increasing complexity. First, trivial filters are applied to all the grasp examples, thus reje...