This paper presents the development of a software application for Off-line robot task programming and simulation. Such application is designed to assist in robot task planning and to direct manipulator motion on sensor based programmed motion. The concept of the designed programming application is to use the power of the knowledge base for task accumulation. In support of the programming means,...

In this paper, conventional global and local indices – structural length index, manipulability measure, condition number and Global Conditioning Index (GCI) – have been examined for the workspace optimization of the sixteen fundamental robot manipulators classified by B. Huang and V. Milenkovic [Kinematics of major robot linkages, Robotics International of SME 2 (1983) 16–31]. To find the optim...

We encountered a case of a rupture of an endotracheal tube cuff during robot-assisted thyroid surgery in a 35-year-old male patient. Two hours after commencing surgery, the bellows of the ventilator were not filled and a rupture of the endotracheal tube cuff was suspected. Once the robot-manipulator is engaged, the position of the operating table cannot be altered without removing it from the p...

This paper describes a robot manipulator system currently under development which learns assembling technique from observation of skilled worker’s demonstrations. The system is an application of EBL (Explanation-Based Learning) to the robot manufacturing domain. The system improves the operating capability of the robot manipulator through observing, analyzing the skilled worker’s assembling ope...

The fast growing interest in flexible, versatile and mobile robotic manipulators demands for robots with inherent high passive safety suited for direct human-robot interaction. To gain access to these new applications in the field of automation engineering where close vicinity and direct cooperating with humans are required, the “BioRob” project demonstrates the applicability of a new biologica...

We consider the control circuit for single-link manipulator robot constructed on proportional-diierential controller. We obtain suucient conditions for the asymptotic stability of control system under various random nonlinear perturbations. We nd out the values of control parameters and the restrictions on the noises that ensure the transition of the loaded claw into the-neighbourhood of the eq...

This paper introduces a new approach to the control of robot manipulators in a way that is safe for humans in the robot's workspace. Conceptually the robot is viewed as a tool with limited autonomy. The limited perception capabilities of automatic systems prohibits the construction of failsafe robots with the capabilities of people. Instead, the goal of our control scheme is to make the interac...

A servo manipulator system has been developed for remotely handling radioactive materials in a hot cell [1]. Unlike a robot manipulator, a servo manipulator is monitored and controlled by an operator all the time. A robot manipulator performs a taught or programmed task without an operator. Generally, a servo manipulator consists of a master arm and a slave arm. The slave arm is a device for wo...

Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot ...

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...