In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering potential human robot accidental collision, combined safety index (MSI) and body injury thresholds, speed are optimized advance. Secondly, using hyperbolic tangent function for refer...

The kinematics of robot manipulators is a corner stone in the study of robotics in general. The computational complexity of the kinematics quite often prevents robotics instructors from using robots of general structure in their illustrative examples and assignments. The software discussed in this article, developed from recent research to support an undergraduate course in robotics, offers com...

In our previous work (2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2 singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of moti...

The axially translating flexible link in flexible manipulators with a prismatic joint can be modeled using the Euler-Bernoulli beam equation together with the convective terms. In general, the method of separation of variables cannot be applied to solve this partial differential equation. In this paper, we present a nondimensional form of the Euler-Bernoulli beam equation using the concept of g...

In the context of controlling a robot arm with multiple joints, the method of estimating the joint angles from the given end-effector coordinates is called inverse kinematics, which is a type of inverse problems. Network inversion has been proposed as a method for solving inverse problems by using a multilayer neural network. In this paper, network inversion is introduced as a method to solve t...

This paper presents a 3D visual servo system using fuzzy controller for the command of a manipulator arm. The vision system is composed of two cameras; the first is installed above the robot, while the second is located on the lateral side of this one. These two cameras need no calibration, thus we can install them in any position and orientation with just the condition that the joints and the ...

In this study the current usage of each associated joint of a humanoid robot (NAO) during stand up process is analyzed. This study is the extension of our previous study [1] where the energy consumption of single and overall joints of a NAO robot during the walking process was researched while keeping the same stiffness values for all joints. This paper analyzes current stiffness relation of in...

Flexible manipulator is widely used in the implementation of industial robotic due to its advantages such as low weight, power consumption, higher load capacity, high-speed operation, small actuators and production costs. However, position speed flexible system are very difficult control tip vibration that result degradation performance. Modelling a double-link robot presented this study. Contr...

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fu...