The 4 degree of freedom robot arm a table tennis has variety trajectories. In order to improve the response and success rate shots, we used joint space trajectory planning method establish kinematic model with joints as variables, by combining it kinematics, obtained relevant parameters for each arm. Simulation tests physical were carried out obtain more accurate

The kinematics model of a robot arm (we are considering open kinematic chains) is described by a corresponding robot map having the configuration space as its domain and the workspace as codomain. In other words, the robot map assigns to every configuration of the joint parameters a unique point of the workspace of the robot arm. We briefly discuss the general introduction of the robot map wher...

This paper proposes the design of a 4 DOF exoskeleton robotic arm for rehabilitation. This proposed robot arm can be used easily with either the user’s left or right arm. This robot arm is designed to have low inertia, high stiffness link, and zero backlash transmissions. It supports the patient’s arm during rehabilitation which is a repetitive task and takes a period of time. Each joint of thi...

Robots are rapidly becoming part of our lives, coexisting, interacting, and collaborating with humans in dynamic and unstructured environments. Mapping of human to robot motion has become increasingly important, as human demonstrations are employed in order to “teach” robots how to execute tasks both efficiently and anthropomorphically. Previous mapping approaches utilized complex analytical or...

We describe a system that allows a distributed group of users to simultaneously teleoperate an industrial robot arm via the Internet. A java applet at each client streams mouse motion vectors from up to 30 users; a server aggregates these inputs to produce a single control stream for the robot. Users receive visual feedback from a digital camera mounted above the robot arm. To our knowledge, th...

Recording the variation of joint angles as a feedback to the control unit is frequent in articulated arms. In this paper, magnetic sensor AS5045, which is a contactless encoder, is employed to measure joint angles of 6R robot and the performance of that is examined. The sensor has a low volume, two digital outputs and provides a high resolution measurement for users; furthermore its zero positi...

In order to better study the trajectory of robot motion, a motion trajectory planning and simulation based on 6-DOF manipulator arm robot is designed. Three and five polynomial methods are adopted to plan motion trajectories. The advantages and disadvantages of the three and five polynomial trajectory planning are summarized. The trajectory planning in the right angle space can make the robot a...

The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used...

This paper presents a component of the on-line tasklevel planning system of the mobile, two-arm robot KAMRO, which is being developed at our Institute. This component generates sequences of explicit robot motions for achieving the goals of elementary assembly operations, and supervises their execution by the real-time robot control system, according to implicitly specified pick-and-place operat...