In this study, position control of a SCARA robot manipulator is investigated using the sliding mode (SMC) method based on parameter optimization The Bees Algorithm. modeling conducted in MSC Adams and implementation carried out MATLAB software. numerical model acquired by setting up virtual prototype addition, inverse kinematic equations are formed Matlab/Simulink software order to check accura...

In this paper, a novel parallel robot is introduced. The robot, a Schönflies-Motion Generator (SMG), is capable of a special class of motions, namely, those produced with serial robots termed SCARA, an acronym for Selective-Compliance Assembly Robot Arm. These motions involve three independent translations and one rotation about an axis of fixed direction. Such motions are known to form a subgr...

In this paper an adaptive compliant motion control is presented for either constant admittance or constant force mode of operation. From a desired trajectory of the admittance and virtual position in the task space, a virtual trajectory is generated to follow the desired admittance. We are talking about admittance because at the interaction port of the end effector the force is measured and a g...

We discuss the modeling and simulation package 20-SIM, a tool for modeling and simulation of dynamic behavior of engineering systems. Engineering systems as application domain means that we focus on systems that span multiple physical domains and the information domain. The 20-SIM software is an interactive tool, where model entry and model processing are fully integrated. This means that alrea...

This paper presents a environment using the eXtensible Markup Language ,XML, to describe a robotic systems in a format suitable for simulation, and to support the integration of several programming environments to create a flexible physical simulation system. Data exchange via open-standard based plain text files allows the system components to be loosely-coupled, rather than combined them into...

In this paper we propose and demonstrate a simple method for navigation in a large unstructured environment that contains featureless objects, which uses \isolated" landmarks in the navigator's view. The map-maker and navigator are implemented using an IBM 7575 SCARA robot arm, the PIPE (Pipelined Image Processing Engine), and two cameras. The navigational environment consists of a at plane wit...