For purely commercial reasons the first users of snake-arm robot technology have not been in the field of surgery or interaction with humans generally, but rather in the field of bomb disposal and remote nuclear activities. However, these applications may indicate how robotic technology could be changed, either in physical implementation or in human perception, to become dependable; dependable ...

The robots are interacting with humans in various aspects. Safety issues are increased in various robot applications. Many robot arms have been introduced for safety. The passive compliance methods have faster and high reliability than active methods. In this paper, a new safety mechanism based on passive compliance is proposed. The variable stiffness joint employed spring and roller is economi...

This paper focuses on the issue of tracking the trajectory of a flexible arm. The purpose is to ensure the flexible arm follows the desired path in the joint space. To achieve our objective, we have three problems to solve: modeling, control, and trajectory planning. As in the case of rigid robots, the EulerLagrange formulation remains valid with the exception of dividing the flexible arm into ...

A direct-drive arm is a mechanical arm in which the shafts of articulared joints are directly coupled to the rotors of motors with high torque. Since the arm does not contain transmission mechanisms between the motors and their loads, the drive system has no backlash, small friction, and high mechanical stiffness, all of which are desirable for fast, accurate, and versatile robots. First, the p...

Cerebral palsy (CP) occurs in over 2 out of 1000 live births and can impair motor control and cognition. Our goal was to create a robotic rehabilitation environment that mimics real-life situations by allowing simultaneous exercise of upper and lower limbs. We chose to use the Lokomat as a gait robot and added a novel removable arm robot, called PASCAL (pediatric arm support robot for combined ...

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the ...

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the ...

In this study, as an application of robotics in hazardous tasks, a dual arm cooperative robot system is considered. The robot system is consisting of two planar arms; each of them has two degrees of freedom. The robot arms are in a task which requires handling and transporting a load in horizontal plane from its initial position to desired location with reliability. Dynamic equations of the phy...

When a force is applied at the endpoint of a manipulator arm, the endpoint will deflect by an amount which depends on the stiffness of the arm and the force applied. There are several sources, for example, arm links, transmissions, reducers, and servo drive systems that produce deflections or vibrations of the industrial manipulator arm. We've investigated the measuring methods of the equivalen...

In this paper, we introduce new performance indices to characterize the workspace of reconfigurable hyper-redundant robotic arms. These indices are then used to analyze the workspace of a type of hyper-redundant robotic arm using as modules lower mobility parallel platforms. The modules of the reconfigurable robotic arm are the three-legged translational universal–prismatic–universal (UPU) and ...