We study the joint recognition problem, which asks for the identification and classification of kinematic joints from a geometric constraint system. By laying the foundation for a rigidity-theoretic study of flexible body-and-cad frameworks, we obtain an O(n) algorithm for identifying prismatic and revolute joints relative to a specific body and an O(n) algorithm for finding all pair-wise joint...

In this paper we present a shear force feedback control method for a single-link flexible robot arm with a revolute joint for which it has been shown that direct bending strain feedback can suppress its vibration. Our primary concern is the stability analysis of the closed-loop equation which has not appeared in the literature. We show the existence of a unique solution and the exponential stab...

In general, joints are assumed without clearance in the dynamic analysis of multi-body echanical systems. When joint clearance is considered, the mechanism obtains two uncontrollable degrees of freedom and hence the dynamic response considerably changes. The joints’ clearances are the main sources of vibrations and noise due to the impact of the coupling parts in the joints. Therefore, the syst...

This paper presents the biped Lucy and the first experimental results of this robot. Lucy is actuated by Pleated Pneumatic Artificial Muscles, which have a very high power to weight ratio and an inherent adaptable compliance. These characteristics will be used to make Lucy walk in a dynamic stable way while exploiting the adaptable passive behaviour of these muscles. The paper will describe bri...

The inverse kinematics problem in robotics requires the determination of the joint angles for a desired position of the end-effector. For this underconstrained and ill-conditioned problem we propose a solution based on structured neural networks that can be trained quickly. The proposed method yields multiple and precise solutions and it is suitable for real-time applications. © 1999 Elsevier S...

This paper presents a control strategy for a two-link manipulator with revolute joints (2R) with an unactuated second joint, wherein the motion of the system is confined to a horizontal plane. The model takes into account the frictional forces present in the system. The control objective is to move the end-effector from a given position to a target point. The methodology involves two stages. In...

The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from th...

The design, implementation, and evaluation of a miniature biped robot for urban reconnaissance are presented. Design specifications for mobility, space requirement, weight, sensing, and control are defined. A revolute hip joint is selected based on its enhanced mobility and capability to function in reasonably confined spaces. Small size dictates minimal weight, which is achieved by an under ac...