in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

In this paper, a model for the constrained robot dynamics, incorporating constraint uncertainties is developed. The rigid constraining surfaces are represented by a set of algebraic functions. The uncertainties in the constraint functions reflect the inaccuracy in the descriptions of the constraining surfaces. The constraint uncertainties influence the robot dynamics, giving rise to the need to...

We define and discuss a class of multi-robot systems possessing ergodic dynamics and show that they are realizable on physical hardware and useful for a variety of tasks while being amenable to analysis. We describe robot controllers synthesized to possess these dynamics and also physics-based methodologies that allow macroscopic structures to be uncovered and exploited for task execution in sy...

Abstract{In this paper, we study on behavior control of robot using orbits of nonlinear dynamics. Behavior generation and control using entrainment and synchronization phenomena in nonlinear dynamical systems is discussed. The behavior of the Arnold equation, which is known to show the chaotic behavior of non-compressive perfect uid, is analyzed. Methods to integrate the dynamics into the infor...

In this project, a new method is proposed for controlling legged robots. This method takes dynamics of the robot into account to have better nominal tracking of desired trajectories and more compliant environmental interactions at the same time. We have incorporated also natural dynamics of the robot into the system by using off-line calculated gaits extracted from optimizations on energy. So t...

Leg dynamics are often ignored in the real-time control of walking robots because of the high gearing used in leg transmissions. However, the use of a gear reduction high enough to discount Coriolis and centripetal components yields additional non-desired dynamics, which are friction, backlash and elasticity. In such cases, simplifying robot dynamics without considering the effect of gear dynam...

This paper addresses the problem of position tracking control of robot manipulators in the presence of parametric uncertainty and additive periodic disturbances. Specifically, a self tuning, Lyapunov-based adaptive controller with desired dynamics compensation term and a disturbance estimator has been designed to ensure that the link position tracking error converges to zero asymptotically, des...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

Dynamic bipedal robots, which are capable of versatile behaviour, are rare. Most bipedal robots are either versatile and static or dynamic and limited to specific gaits. Over the last twenty years the bio-inspired spring mass model became a versatile template for bipedal walking and running gaits with many studies motivated by its high potential for versatile robot locomotion. However the chara...