A new computational technique is presented to find the optimal base position of dual arm robots in order to carry maximum allowable load. The maximum allowable load on a desired trajectory is limited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematic redundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, load works...

Continuum robotic arms that are inspired from nature, have many advantages compared to traditional robots, which motivate researchers in this field. Dynamic modeling and controlling these robots are challenging subjects due to complicated nonlinearities and considerable uncertainties existing in these structures. In this paper, first a dynamic three-dimensional model of the continuum robotic ar...

in order to determine the stability of underwater robots, their governing differential equations of motion in vertical and horizontal planes should be investigated. for horizontal plane stability, using routh stability criterion, four hydrodynamic coefficients, including derivatives of the lateral force and vertical moment with respect to sway and angular velocity are required. these coefficien...

ontrol of cooperating multiple robots has been studied extensively in the past decade [ 11-[ 121. The special feature of multi-arm systems compared to single-arm systems is that closed kinematic loops exist which present a challenge for both motion control C and internal force control. On the other hand, single-arm constrained robots also require motion control and constraint force control. How...

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...

The inverse kinematics problem of a two degree of freedom (2DOF) planar robot arms issolved using Adomian’s decomposition method (ADM), after converting to a system of twononlinear algebraic equations. The advantage of the method is that it gives the solutions asfunctions of the desired position of the end effecter and the length of the arms. The accuracyof the solutions can be increased up to ...

The interest in assistanceand personal robots is constantly growing. Therefore robots need new, sophisticated interaction abilities. Humanlike interaction seems to be an appropriate way to increase the quality of human-robot communication. Psychologists point out that most of the human-human interaction is conducted nonverbally. For that reason, researchers try to enable humanoid robots to real...