Flexible Manufacturing Systems (FMS) are essential for small/medium batch and job shop manufacturing. These types of production systems are used to manufacture a considerable variety of products with medium/small production volumes. Therefore, the manufacturing platforms supporting these types of production must be flexible and organized in Flexible Manufacturing Cells (FMC). Programming FMC's ...

Type-1 fuzzy sets cannot fully handle the uncertainties. To overcome the problem, type-2 fuzzy sets have been proposed. The novelty of this paper is using interval type-2 fuzzy logic controller (IT2FLC) to control a flexible-joint robot with voltage control strategy. In order to take into account the whole robotic system including the dynamics of actuators and the robot manipulator, the voltage...

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fu...

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 ...

A remarkable part of the skills of human experts rendering services in hazardous and dynamic factory environments is their ability to continue performing a job while reacting to adapt their posture to sudden changes in the environment such as upcoming obstacles. Possession of these typical human skills that can be defined in a set of linguistic objectives, will help building flexible and more d...

Robot manipulators are built to meet certain pre-determined performance requirements. The question of whether the robot will have the desired functionality (e.g. dexterity, accuracy, reliability, speed, etc.) needs to be answered before the robot is actually built. We have developed a software package that can greatly ease the design of a generic 6-DOF manipulator with a spherical wrist. Our pa...

This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipu...

With the recent technological advancement in submersible systems, the research and development of underwater manipulator robot is highly desirable. This paper focuses on comparing simulation versus real-time manipulator dynamics control, and comparison of intelligent underwater manipulator-robot for effective Ocean-based research, industrial and defense applications. Software package such as MA...

This paper describes the design and development of harvesting system for the gantry system to harvest eggplants. For this purpose, the harvesting robot was successfully designed and fabricated for the gantry system to harvest eggplants. The operation of the harvester was controlled by Programmable Logic Controller (PLC). Basically, the limit switches, DC motor, and relay are connected to the PL...