In tunneling and mining construction work, heavy and large manipulators are used to spray liquid concrete on the walls. These manipulators are usually operated manually with simple units allowing to control all actuators independently. In cooperation between industry and university, a novel control system has been developed for the redundant heavy manipulator Robojet® that supports the operator...

In this paper, evolving inverse fuzzy models obtained online for uncalibrated visual servoing in 3D workspace, are developed and validated in a six degrees of freedom robotic manipulator. This approach will recursively update the inverse fuzzy model based only on measurements at a given time instant. The uncalibrated approach does not require calibrated kinematic and camera models, as needed in...

We study the inverse problem of deducing the dynamical characteristics (such as the potential field) of large systems from kinematic observations. We show that, for a class of steady-state systems, the solution is unique even with fragmentary data, dark matter, or selection (bias) functions. Using spherically symmetric models for simulations, we investigate solution convergence and the roles of...

Pada jaman saat ini, sistem informasi sudah menjadi bagian yang diperlukan perusahaan serta industri kecil dan menengah (IKM). Hal tersebut ditunjang dengan semakin meningkatnya teknologi telah aset penting bagi jalannya proses bisnis. Kesadaran atas pentingnya manajemen merupakan hal mendorong majunya IKM. Semakin maju IKM maka pula pada tersebut. Industri Kecil Menengah (IKM) khususnya pembua...

Instantaneous kinematics and singularity analysis of a class of three-legged, 6-DOF parallel manipulators are addressed in this paper. A generic method of derivation of reciprocal screw and consequently, the instantaneous kinematics model is presented. The advantage of this formulation is that the instantaneous kinematics model possesses well-defined geometric meaning and algebraic structure. S...

In this paper, the forward and inverse kinematic relations of a hybrid 6-DOF robotic manipulator, named the H6AR, are presented. The H6AR consists of twin 2-DOF anthropomorphic arms that can move in the vertical plane. These arms are connected, at one end, to a 1-DOF waist and constrained, at the other end, by a novel wrist assembly. The wrist contains an actuator only for the pitching motion a...