The kinematics recursive equation was built by using the modified D-H method after the structure of rehabilitation lower extremity exoskeleton was analyzed. The numerical algorithm of inverse kinematics was given too. Then the three-dimensional simulation model of the exoskeleton robot was built using MATLAB software, based on the model, 3D Reappearance of a complete gait was achieved. Finally,...

this study on the design of pid controllers for flexible single-arm robot system optimizationpso method is focused so that the coefficients of the pid controller are reduced. in this study,pid controller and pso algorithm have been described and then by using matlab, pidcontrol was simulated. then by pso algorithm, attempts to reduce the pid coefficients are givenby simulation. finally pid coef...

In order to obtain the optimal structure parameters of a quadruped robot, in this paper, a four-legged mammal (dog) is used as a model, and a quadruped robot configuration framework is set up by simplification of the model’s structure. In addition, the kinematics model of this robot is established. Based on the analysis of quadruped robot's kinematics characteristics, and taking the flexibility...

The Robotics Research Group of the University of Auckland is developing a robot programming environment using a Service Based Architecture [Woo, 2002; Woo et al., 2003] to facilitate the description of robot behaviours. Simulation and visualisation tools allow programmers to test their robot behaviours at early stages and such tools are an important addition to any programming environment. This...

Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...

A general robotic mechanism was presented for in-pipe inspection oflevel pipes with varied diameter or curved pipelines. The robot employed three legs comprised of parallelogram linkages mechanism which enables adapting to various elbow joints in the piping systems. The curvatures in pipeline are the most important constraints in front of the robot through navigation process. To study the adapt...

Industrial robots need instrument or parts transport to do which requires coordinate to show the robot’s instrument, parts and body. When investigating the robot location, we are usually interested in measuring its location relative to a reference coordinate system. In this system it is attempted to make the assemble direction smaller by designing the sensor board and making use of an instrumen...

This paper discusses the role of the product modelling technology in construction robotics control. Information models for the representation of construction product and process information enable more intelligent behaviour of construction robot tools, because construction knowledge can be transferred into the robots. In this paper an information model is presented for product as well as proces...

This paper describes the basic concepts needed for a simulation environment capable of supporting the design of robot organizations for managing chemical, or similar, laboratories on the planned U.S. Space Station. The environment should facilitate a thorough study of the problems to be encountered in assigning the responsibility of managing a non-lifecritical, but mission valuable, process to ...

The purpose of this paper is to design and optimize an intelligent fuzzy-logic controller for a three-degree of freedom (3DOF) artificial finger with shape-memory alloy (SMA) wire actuators. The robotic finger is constructed using three SMA wires as tendons to bend each phalanx of the finger around its revolute joint and three torsion springs which return the phalanxes to their original positio...