The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the join...

In this paper, an independent joint position and stiffness adaptive control for a robot arm actuated by McKibben artificial muscles is reported. In particular, muscular and dynamic parameters of the system are supposed unknown. Adaptive control performance is tested in a one degree of freedom experimental setup and compared with PID control performance. The adaptive control scheme is then appli...

In search and rescue missions, the sensors on the Absolem mobile robot used in the TRADR project can fail due to environmental conditions like smoke and dust, making further robot operation difficult and dangerous for the robot. In such cases, the robot-mounted robotic arm can be used to gain information about the environment by obtaining tactile measurements from it. We propose an algorithm to...

The purpose of the senior design project, from the course description of objectives is "To provide students a complete design experience, including the necessity to set design goals and objectives, integrate knowledge, exercise engineering judgment, plan to meet a budget and schedule, to work as a team member, and to communicate in writing." To accomplish these objectives our group, Helping Han...

This paper utilizes the idea of “robot ergonomics” in which robotic tasks are evaluated according to ergonomics criteria. Robot performance is continuously reeorded in terms of total motion for each robotic link, the load applied on each joint, and the accuracy of each motion. Evaluating robot motion can assist in the design of a robotic cell, where robot position and layout of peripheral equip...

The timing of movements and of action sequences is difficult when on-line coupling to sensory information is a requirement. That requirement arises in most behavior-based robot architectures, in which relatively low-level and often noisy sensor input is used to initiate and steer action. We show how an attractor dynamics approach to the generation of behavior in such architectures can be extend...

Most successful state-of-the-art robo-tic manipulators have the characteristic of producing precise, fast, smooth and reproducible movements. Their drawback is that they tend to have a limited repertoire which can only be extended by costly inverse kinematics calculations or direct teach-in sessions. The goal of our project is to develop a exible open world robot , which adapts to its task and ...