This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.

This paper we introduce a torque feedback control (TFC) model to estimate pressure of the hand on a 4-DOF robotic arm of Betty, a humanoid robot. Based on several preliminary experiments of different stroke patterns, we measured and analysed the torque replies of Betty’s servos in order to model the torque feedback. We developed a robust humanoid system to create sketch like drawing with limite...

Electro Encephalo Gram based Brain-Computer Interface robotic arm can help as a powerful support for severely disabled people in their regular activities, especially to aid them to move their arm voluntarily. This paper proposes and implements a brain signal (mind) controlled robotic arm to yield different movements in robotic arm. The scheme uses a single electrode pair acquisition scheme, mic...

We present an initial evaluation of a robotic arm for positioning a 3D echo probe during cardiac catheterization procedures. By tracking the robotic arm, X-ray table and X-ray C-arm, we are able to register the 3D echo images with live 2D X-ray images. In addition, we can also use tracking data from the robotic arm combined with system calibrations to create extended field of view 3D echo image...

This paper mainly describes the design and development of the humanoid robot arm. First, according to the requirements of tasks and anthropomorphic characteristics, the 7-DOF humanoid arm with non-offset S-R-S configuration is identified by evaluating four alternatives. The humanoid arm is accomplished with modular design, and is composed of links and modular joints. Cables between joints pass ...

This paper addresses a principle of linear superposition for realizing dexterous motions of a pair of dual multiDOF robotic fingers with spherical rigid tips during manipulation of an object. Firstly, sensory feedback control algorithms to (1) realize specified contact forces between the finger-tips and object surfaces and (2) regulate a rotational angle of the object to a given set-point value...

In this paper an anthropomorphic robot arm is de scribed for service tasks The paper focus mainly on the mechatronics concept of the arm which gets its inspiration from the biology of the human arm This includes the mechanical design kinematical mod elling the range of motion the sensor concept and the hierarchical control architecture

In this paper, a dynamic analysis for 5 degree of freedom (DOF) robotic arm with serial topology is presented. The model the robot based on importing tri-dimensional CAD into Simulink®-Simscape™-Multibody™. in Simscape necessary and important step development mechanical structure robot. correct choice electric motors made according to resistant joint torques determined by running analysis. One ...