This work describes the development of the GRANIT parallel-kinematic robot. The robot endorses a multifunctional end effector, a stiff and precise device aimed at the assembly of heating coils for hairdryers. Such assembly task require repeatability and releability, therefore we developed a custom manipulator which has 4 degrees of freedom like a SCARA robot, although offering a superior rigidi...

• New geometric vector modelling of SCARA robot. Definition independent parameters based on robot joints invariants. A direct identification method “Circle Point Analysis”. Improvement the accuracy a (mean transformation error less than 0.03 mm). final compared to first and second-order Denavit–Hartenberg geometrical model. This article introduces new modeling serial kinematic consistent with p...

Membrane proteins fulfill many important roles in the cell and represent the target for a large number of therapeutic drugs. Although structure determination of membrane proteins has become a major priority, it has proven to be technically challenging. Electron microscopy of two-dimensional (2D) crystals has the advantage of visualizing membrane proteins in their natural lipidic environment, bu...

Robotic manipulation tasks, particularly in unstructured environments, require detailed information about the manipulator surroundings. Location and form of objects to be manipulated are especially important information. Due to the emergence of RGB-D cameras, e.g. the Microsoft Kinect, the research community w as able to develop important results related to 3D environment mapping, scene segment...

The objective of our study is to build a precise model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. This paper proposes a systematic identification method, called “decoupling identification”, for a serial two-link robot arm with elastic joints caused by the Harmonic drive R © reduction gears....