SUMMARY The question of control and stabilization of flexible space robots is considered. Although, this approach is applicable to space robots of other configurations, for simplicity, a flexible planar two-link robot, mounted on a rigid floating platform, is considered. The robotic arm has two revolute joints and its links undergo elastic deformation in the plane of rotation. Based on nonlinea...

This paper presents simplified hydrodynamics model for a biomimetic robot fish based on quantitative morphological and kinematic parameters of crangiform fish. The motion of four Pangasius sanitwongsei with different length and swimming speed were recorded by the digital particle image velocimetry (DPIV) and image processing methods and optimal coefficients of the motion equations and appropria...

ABSRACTThis study presents the kinematic analysis of a four-degree freedom medical robotic arm using the Matlab and the robotic-tool, the arm was designed using a solid work program, As well as details of the control of the real design of this arm using Arduino Mega 2560, The specialist enters the position to be reached by the automatic arm (injection position), Or moving the arm to any p...

The adaptive control of robot manipulators has been presented as a solution for dealing with uncertainty and variation of the mass properties. Although these systems are nonlinear, globally stable tracking has been demonstrated both analytically and supported through experiments [1]. The key to these results has been the linear dependence of the model on the unknown parameters and, in many case...

This paper focuses on the design of a 32 DOF andro humanoid robot using cascaded computational intelligence. The robot consists of hip, neck, Lip, shoulder, elbow, and wrist and finger joints. The robot secures itself from hacking and power problems. The intelligence of the robot is a combination of human intelligence, computational intelligence and sensor fusion unit data.

This paper presents a humanoid robot that has the same size as a human and that can lie down to the floor and get up from the floor with the robot face upward and downward. We believe that the robot is the first life-size humanoid robot with the capability. The motions are realized by the combination of novel hardware and software. The features of the hardware are a human-like proportion and jo...

The paper presents a systemic approach of a walking robot behavior and control in uncertain environments, with application to a hexapod robot. For simplicity, this paper considers only the vertical xzplane evolution taking into account that the structure is symmetrical in the horizontal xy-plane and the results can be easily extended. Based on the mathematical model of the robot, determined con...

Effective mass of robot is considered great significance in enhancing the safety human-robot collaboration. In this paper, effective investigated using different joint configurations. This investigation executed two steps. first step, position each changing alone, whereas positions other joints are fixed and then determined. second all together, From process, relation between configurations can...

Robotic systems can benefit from the introduction of properly chosen joint elasticity. Besides their robustness against rigid impact, the energy saving capabilities may increase the system dynamics. In this paper, a method applicable for robots with serial elastic joints is presented, which embodies a desired oscillatory behavior into the hardware and thereby leads to improved performance. This...