To solve the problem of unmanned plugging weld for steam generator in high temperature gas cooled reactor, a new seven-degrees-of-freedom robot with 3-PSP and SCARA structure is designed based on scheme serial-parallel robot. In order to achieve simple stable motion control, D-H method analytical are used study its kinematics establish an accurate model. Based MATLAB software existing kinematic...

In SCARA robots, which are often used in industrial applications, all joint axes are parallel, covering three degrees of freedom in translation and one degree of freedom in rotation. Therefore, conventional approaches for the handeye calibration of articulated robots cannot be used for SCARA robots. In this paper, we present a new linear method that is based on dual quaternions and extends the ...

In high-speed part mating using robotic arms, the dynamic characteristics of the mating process have to be considered. This paper first derives the geometrical compatibility condition for the insertion motion where mating force/moment are free of overshooting. Simulation studies are then carried out where the dynamic characteristics of a robot, subjected to contact force and moment, are formula...

Industrial automation calls for behavioral intelligence, that is, a mixture of flexibility, robustness and adaptiveness of robot behavior. We argue that efficient machine learning techniques can be a valuable tool for achieving behavioral intelligence. As a case study we apply ALECSYS, an implementation of a learning classifier system on a net of transputers, to a gross-motion problem for an in...

Robotic manipulators are highly nonlinear and coupled dynamic systems, which may be subject to different types of unknown disturbances such as joint frictions and end-effector external payloads. Such disturbances, when unaccounted for, cause poor tracking performance of the robot and may even destabilize the robot control system. In this paper we propose a novel nonlinear control scheme for rob...

In the present work, we develop an adaptive dynamic controller based on monocular vision for tracking of objects with a three-degrees freedom (DOF) Scara robot manipulator. The main characteristic proposed control scheme is that it considers dynamics, depth moving object, and mounting fixed camera to be unknown. design algorithm kinematic visual servo whose objective even uncertainties in param...