This paper presents a new approach to path planning for robots with many degrees of freedom (dof) operating in known static environments. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given environment, generates a network of randomly, but properly selected, collision-free conngurations (nodes). Planning then connects any given initi...

This paper presents a three degree-of-freedom (3DOF) closed-loop position and 2-DOF open-loop orientation control method for an untethered mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial robotic manipulator and a 3-DOF capsuleposition localization system. Using traditional methods known to roboticists, we study the kinematics of untethered ma...

This report describes the kinematic and dynamic modeling of a hexapod robot. The 6-DOF (degrees of freedom) analytical kinematic and dynamic equations of motion are derived following the classical Newtonian mechanics. Under certain task-specific assumption, it is shown that the complex 6-DOF model can be simplified, resulting in an abstract model. Specifically, the motion of the robot on the ho...

We de$ne a measure of “observability” of robot motion that can be used in evaluating a hand/eye set-up with respect to the ease of achieving vision-based control. This eztends the analysis of “manipulability” of a robotic mechanism in [9] to incorporate the effect of visual features. We discuss how the observability measure can be applied for active camera placement and for robot tmjectory plan...

The concept of wearability will be recognized very important in future robotics as in computer science. There is a strong possibility that wearable robots suggest a new direction for human-robot interaction. In this paper, we propose RoboWear, a wearable robot that a human operator wears on his arm for the purpose of human-robot interaction. The wearable robot can be used to amplify human power...

This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...

In this paper we develop two noble mechanisms for im proving the motions of humanoid robots The double spherical joint is a six DOF joint that consists of six sin gle DOF mechanical pairs in series with their axes inter secting at a point The double spherical joint replaces two hip joints six DOF of humanoid robot and even provides the equivalent function of waist joints without actually adding...

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

The PAM robot arm is belonged to highly nonlinear systems where perfect knowledge of their parameters is unattainable by conventional modeling techniques because of the timevarying inertia, hysteresis and other joint friction model uncertainties. To guarantee a good tracking performance, robust-adaptive control approaches combining conventional methods with new learning techniques are required....

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...