A method for finding parallel arm robot structures with the same performance as the FlexPicker robot from ABB is presented. The method is very simple and based on systematic clustering of the links connected to the actuated platform of the robot. In the case of 3 DOF actuation, 3 new useful clustering schemes have been found. With these clustering schemes as a starting point, new parallel arm r...

Abstrnct-A robot trajectory planning problem is considered. Using smooth interpolating cubic splines as joint space trajectories, the path is parameterized in terms of time intervals between knots. A minimum time optimization problem is formulated under maximum torque and velocity constraints, and is solved by means of a first order derivative-type algorithm for semi-infinite nonlinear programm...

Problem statement: The capability of performing autonomously a contour following task of a shape object is required for an industrial robot manipulator. These tasks include welding, sealing, grinding, painting and many more. These applications are very tedious and time consuming if done by manual contour following system. Approach: This study proposed the development of dual sensor logic algori...

This paper deals with an overview of recent microgrippers. As the end-effectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. The performances of current microgrippers are presented and offer a stroke extending from 50 m to approximately 2 mm and a maximum forces varying from 0,1 mN to 600 mN. Then, micromanipulation sy...

In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contractionbased control theory. Our proposed controller renders a desired sliding manifold (where the reference trajectory lies) attractive by making the corresponding error system partially contracting. Finally, we present numerical...

This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

The TwinCAT Supplement ‘TwinCAT Kinematic Transformation’ is presented in this application example. This supplement makes it possible to compute robot kinematics together with the PLC and Motion Control on one PC-based CPU. Analogous to the TwinCAT Motion Control package (integration of the drive control in the controller), a robot kinematics is configured and parameterised with the ‘Kinematic ...