This work presents the development, assessment and comparison of four techniques for identifying dynamic parameters in an industrial redundant manipulator robot with 5 degrees of freedom. Based on the Lagrange–Euler formulation, a linear model of the robot with unknown parameters is obtained. Then, these parameters are identified using the following techniques: least squares, artificial Adaline...

0957-4158/$ see front matter 2011 Elsevier Ltd. A doi:10.1016/j.mechatronics.2011.01.005 ⇑ Corresponding author. Tel.: +90 212 383 28 88; f E-mail addresses: [email protected], eakdoga [email protected], [email protected] (M.A This study explains the design and control of three degrees of freedom therapeutic exercise robot (Physiotherabot) for the lower limbs of a patient who...

This article presents an improved ant colony optimization (IACO) algorithm to calculate the shortest path for pneumatic robot manipulator. MATLAB Script node in LabVIEW was used to determine the optimum trajectories and sequent nodes of moving for robot system. The LabVIEW graphical development software was used to construct the graphical user interference (GUI) of the robot manipulator, monito...

Studies on harvesting robots with manipulator were started with the tomato fruit harvesting robot since 30 years ago by Prof. Kawamura, Kyoto University [1]. The robot consisted of a 5 DOF manipulator, a harvesting end-effector, a color TV camera which was used for stereo vision, and a battery car for traveling in the ridges as shown in Figure 1. Following the harvesting robot, the robotic tech...

Inconsistency in manual inspection is real because humans get tired after some time. Recent trends show that automatic inspection is more appealing for mass production inspections. In such as a case, a robot manipulator seems the best candidate to run a dynamic visual inspection. The purpose of this work is to estimate the optimum workspace where a robot manipulator would perform a visual inspe...

The method of conventional control of a manipulator, without considering varying effects of robot dynamics, results in degraded response with unnecessary vibrations thus limiting the precision and speed of the end effector. As the column joint is subjected to worst dynamic conditions when all the axes are in motion, simulation of position response of column joint of a 60-Kg payload 4-axes SCARA...

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...

One of the most important challenges in nonlinear, multi-input multi-output (MIMO) and time variant systems (e.g., robot manipulator) is designing a controller with acceptable performance. This paper focused on design a new artificial non linear controller with on line tunable gain applied in the robot manipulator. The sliding mode fuzzy controller (SMFC) was designed as 7 rules Mamdani’s infer...