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...

This paper introduces an effective intelligent controller for robotic systems with uncertainties. The proposed method is a novel self-organizing fuzzy cerebellar model articulation (NSOFC) which combination of (CMAC) and sliding mode control (SMC). We also present new Gaussian membership function (GMF) that designed by the prior current GMF each layer CMAC. In addition, relevant data used to ch...

We are developing a novel autonomous mobile robotic system to emulate full 6 degree of freedom relative motion at high fidelity. An omni-directional base provides large 3-DOF motion with moderate precision, while a micron-class Stewart platform on top provides high precision, limited 6-DOF motion. This multi-vehicle robotic system is designed to accommodate multiple untethered vehicles simultan...

Both academic and commercial interest in agricultural robots has increased recently. This is due to the fact that address significant issues such as seasonal labor shortages during harvest rising concern over environmentally friendly practices. Because of these, several distinct have already been created for a variety purposes, with varying degrees success, including monitoring, spraying, harve...

In master slave teleoperation schemes operated by humans, the interface with which the user interacts plays a key role. In this work an interface based on inertial sensors with applications for unilateral master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm to obtain acceleration and turning ...

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the m...

Since the COVID-19 pandemic, development of a non-contact medical robot that prevents infection is increasingly required due to field’s heavy workload and emotional stress. To reduce prevent infection, we propose robotic diagnostic system can be applied conventional otolaryngology clinics. A digital twin model was used leverage initial design optimisation system. The proposed developed based on...

In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuz...

The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. Both forward and inverse kinematics solutions for the TR 4000 educational robot arm are presented. The closed form solution of the inverse kinematics problem is of utmost importance in controlling robotic manipulator. In this paper, a closed form solution to the inverse kinematics...