Due to the quick evolution of manufacturing processes, the demand for more flexible automation systems is on the rise. To answer these requirements, distributed motion control architecture based on intelligent drives tends more and more to replace the traditional solutions. This paper presents a local intelligent drive that controls the position of an articulated arm robot. The driver receives ...

Introduction In robot configurations it is desirable to be able to obtain an arbitrary orientation of the output element or end-effector. This impliesa minimum of two independent rotations about two (generally perpendicular) intersecting axes. If, in addit:ion, the output element performs a mechanical task such as in manufacturing or assembly (e.g., drilling, turning, boring, etc.) it may be ne...

The paper introduces an experimental setup for the automatic manipulation of microcomponents, based on a 4 dof robot with Shoenflies motion and a two-camera vision system. The general architecture of the workcell is presented. The work-cell functionality was tested via repeatability experiments using a set of vacuum grippers. Due to their intrinsic simplicity, vacuum grippers are very cheap and...

This paper proposes a fuzzy PID control method for deburring industrial robots. The adaptive fuzzy PID controller relates to the trajectory and joint angular parameters of the end-effector on a robot. The PID controller parameters update online at each sampling time to guarantee trajectory accuracy of the end-effector. The simulation of the fuzzy PID control is provided based on the 6-DOF debur...

Many planning problems exhibit a high degree of symmetry that cannot yet be exploited successfully by modern planning technology. For example, problems in the Gripper domain, in which a robot wi th two grippers must transfer balls from one room to another, are tr ivial to the human problem-solver because the high degree of symmetry in the domain means that the order in which pairs of balls are ...

The method of end-effector pose accuracy improvement using joint error mutual compensation for robotic manipulators with rotation joints was presented. The computer simulation and experiments of the developed method showed that it was possible to perform the technological operations with a higher accuracy in the special areas of the robot working space using the developed approach. The method p...

In this paper, we present a motion splicing technique for generating concurrent upper-body actions occurring simultaneously with the evolution of a lower-body locomotion sequence. Specifically, we show that a layered interpolation motion model generates upper-body poses while assigning different actions to each upper-body part. Hence, in the proposed motion splicing approach, it is possible to ...

End effectors for robotic systems are becoming more and more advanced, resulting in a growing variety of gripping tasks. However, most grippers are application specific. This paper presents a gripper that interacts with an object’s surface rather than being dependent on a defined shape or size. For this purpose, ingressive and astrictive features are combined to achieve the desired gripping cap...

This paper focuses on using a singularly perturbed approach to derive a vibration damping control law in which a pole assignment feedback method is utilized. The composite control system is characterized by two components which can be computed separately. The one is Cartesian-based PI control which drives the end-effector of a flexible manipulator to track the desired time-based trajectory. The...

This paper presents a shape memory alloy (SMA) ac-tuator aimed to be integrated in the phalanx of a dex-terous micro-gripper. Its original design mechanically decouples motion transmission from force transmission. After a brief discussion on the operating principles of the actuator, the kinematics of the mechanism and its general features are speciied. A thermo-mechanical model of the SMA bers ...