This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...

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...

Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric informati...

Singular postures of 6R robots must be avoided because close to singularities an exact tracking of the planned end-effector trajectory requires great angular velocities in the rotary joints. Hence there is an interest in having a distance measure of the instantaneous configuration to the nearest singularity. This article outlines three new methods to measure the closeness to such a singularity....

At present, the absolute positioning accuracy and control of industrial serial robots need to be improved meet requirements precision manufacturing precise control. An accurate dynamic model is an important theoretical basis for solving this problem, parameters are prerequisite The research dynamics parameter identification can greatly promote application in field automation. In paper, we study...

An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in order to fulfill velocity, workspace and C-space constraints, respectively. The proposed method only requires a few program lines and simplifies the robot user interface since...