In this paper we propose a concept of a modular robot that can mainly be used for testing control algorithms in research work and in education. In our research work the main purpose is the experimental testing of computed torque control algorithms of underactuated dynamical systems, which are modeled by non-minimum set of descriptor coordinates. Various control methods are known being able to h...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...

In industrial production lines, for example in the automotive industry, cells with multiple industrial robots are common. In such cells, each robot has to avoid running into static obstacles and when the robots work together in a shared space they must also avoid colliding with each other. Typically, the latter is enforced by manually implementing interlocks in programmable logic controllers (P...

The goal of our study is to obtain a precise dynamic model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. We previously proposed “decoupling identification method” for a planar serial two-link robot arm with elastic-joints caused by the Harmonicdrive reduction gears. First, this paper reviews t...

In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

– one of the important applications of robots is in material handling and transport of various shaped objects. in cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. this paper presents an analytical method for minimizing the oscillation of a suspended object during transport. this method...