This paper proposes a potential‐based path planning algorithm of articulated robots with 2‐DOF joints. The algorithm is an extension of a previous algorithm developed for 3‐DOF joints. While 3‐DOF joints result in a more straightforward potential minimization algorithm, 2‐DOF joints are obviously more practical for active operations. The proposed approach computes r...

Robot manipulator play important role in the field of automobile industry, mainly it is used in gas welding application and manufacturing and assembling of motor parts. In complex trajectory, on each joint the speed of the robot manipulator is affected. For that reason, it is necessary to analyze the noise and vibration of robot's joints for predicting faults also improve the control precision ...

Elasticity in conventionally built walking robots is an undesired sideeffect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in h...

A practical algorithm for 3-D interpretation of images taken in a sewer by a robot-inspector is presented. Modern sewers made of concrete present regular circular structures originating at the pipe ends as well as at the joints of the pipe sections. These pipe ends and joints provide regular marks on the sewer images and can be used for their 3-D interpretation. The key idea of the paper is to ...

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a...

This paper describes the development of an autonomous robot for painting the interior walls of buildings. The robot consists of a painting arm with an end effector roller that scans the walls vertically and a mobile platform to give horizontal feed to paint the whole area of the wall. The painting arm has a planar twolink mechanism with two joints. Joints are driven from a stepping motor throug...

ion layer The Ethercat-Master exposes the robot sensors and actuators in a YARP network by remotizing the robot with a set of YARP communication channels (this is achieved in YARP using special objects called network wrappers). An additional set of libraries, named WholeBodyInterface, hides YARP channels from control modules, and relieves the developers from the bureaucracy required to prepare ...

Biped walking remains a difficult problem, and robot models can greatly facilitate our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network governed mainly by l...

Skilled mechanical arms of consanguine relationship formed by joints the relative motion of the adjacent interfaces enable, have been connected. Ability to perform a variety of pre-programmed robotic manipulator in various industries. Skilled mechanical arms in recent years as a significant progress has been completed. House repair and easier to work with them as well and fit and optimal relati...

The dexterity of a manipulator with passive joints, also known as an underactuated manipulator, differs from the dexterity of a fully actuated one, even if their mechanical structures are identical. Therefore, for fault tolerance and energy saving purposes, it is important to study the dexterity of underactuated manipulators. The purpose of this work is to quantify the dexterity of underactuate...