Problem statement: The assistance of person with limited ability of arm movement is necessary for rehabilitation reasons. This aid is required not only to cover the human performances of the arm in motion and force but also to have a strictly stable dynamics. In this study, we proposed a cooperative system between a disabled arm and a robotic manipulator to reach such objectives. Desired positi...

A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the p...

Robotic systems with force sensing have great potential for use in radioactive environments. In this study, a modified observer-based method was developed to calculate the unknown external without adding redundant sensor and achieve fault detection presence of sensor. A dynamic model serial robotic manipulator built design procedure disturbance observer (MDO) established. The output then used s...

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...

Cutting sticking operation is essential on a chrysanthemum production to enhance its productivity, since many cuttings can be obtained from one mother plant. Usually, human being manually sticks the cuttings to plug tray, however, it takes a lot of time and much labor, since the number of cuttings is said to be about 200 million in a district where yields the highest number of chrysanthemums in...

We discuss the use of agents and qualitative representations in networked robotic systems and describe cooperation between agents as a means of realizing functionality. We present this approach as an alternative to quantitative techniques. We describe our networked robotic system and show how agents can be constructed in that system. We discuss an example teleoperation task, where agent coopera...

In this paper we present recent experimental results using a novel parallel manipulator operating under Natural Admittance Control performing difficult mechanical assemblies. The example assemblies are components from an automotive automatic transmission. Success depends on appropriate force responsiveness, rather than precise position control. The robotic assemblies are shown to be gentler tha...

The probabilistic modelling of a robot manipulator workspace when combined with a Human-Machine Interface (HMI) allows the extraction and learning of the spatial preferences of the user. Furthermore, the knowledge of the most accessed zones of the robot’s workspace permits the bounding of the time needed for the robot to reach a given position at its workspace. From its early beginning, the use...