In order to improve the trajectory planning efficiency and accuracy of multi-joint welding robot, according to the movement feature of multi-joint welding robot, the paper analyzed on existing problems in spatial joint planning of the robot, proposed a terminal priority planning method of robot joint planning, based on the study of energy conservation and accuracy of robot terminal. Using this ...

This paper concerns the swing-up control of a two-link robot moving in vertical plane, which has single actuator at second joint and linear torsional spring first joint. First, we present necessary sufficient condition such that is linearly controllable upright equilibrium point (UEP, where two links are both upright). Second, prove without any assumption an provided its actuated angle constant...

Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...

Programming a humanoid robot to perform an action that takes into account the robot’s complex dynamics is a challenging problem. Traditional approaches typically require highly accurate prior knowledge of the robot’s dynamics and the environment in order to devise complex control algorithms for generating a stable dynamic motion. Training using human motion capture (mocap) data is an intuitive ...

The mapping between the Cartesian space and joint space of robot manipulators has long been a difficult task for redundant robots. Two main methods are used in the classical approach. One is by using direct kinematic inversion in the position regime; the other is to use Jacobian Transformation in the velocity regime. However, for a redundant robot, a non-squared Jacobian matrix is resulted when...

The mapping between the Cartesian space and joint space of robot manipulators has long been a difficult task for redundant robots. Two main methods are used in the classical approach. One is by using direct kinematic inversion in the position regime; the other is to use Jacobian Transformation in the velocity regime. However, for a redundant robot, a non-squared Jacobian matrix is resulted when...