The accuracy of a robot manipulator’s position in an application environment is dependent on the manufacturing accuracy and the control accuracy. Unfortunately, there always exist both manufacturing error and control error. Calibration is an approach to identifying the accurate geometry of the robot. In general, robots must be calibrated to improve their accuracy. A calibrated robot has a highe...

The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing errors in machining and assembly of manipulators lead to discrepancies belween the design parameters and the physical structure. Improving the kinematic performance thus requires identification of the actual kin...

This paper presents a dual quaternion methodology for the kinematic synthesis of constrained robotic systems. These systems are constructed from one or more serial chains such that each chain imposes at least one constraint on the movement of the workpiece. Serial chains that have constrained workspaces can be synthesized by evaluating the kinematics equations of the chain on a finite set of ta...

This study aimed to compare gait properties during level walking and during stair ascent and descent with varying loads. Fifteen healthy young men (mean age: 22.1 ± 1.6 years) walked while holding four different loads relative to each subject’s body mass (0, 20, 40 and 60% of body mass: BM) on their backs. Stance time, swing time, and double support times were selected as gait parameters. All p...

This paper presents a Bayesian approach for tracking the times-of-arrival (TOAs) of multiple wideband moving targets using a linear, passive sensor array, for use in smart antenna wireless applications. A novel form of posterior distribution describing the parameters of the received signal is developed. The nuisance parameters (source amplitudes and variances) of this distribution are integrate...

The description of a serial kinematic chain should be unique, unambiguous, simple to determine, easy to use and well-behaved when small changes are made in the arrangement of the elements of the chain. The notation currently in use, introduced by Denavit andHartenberg, does not satisfy all of these criteria. It involves arbitrary choices, so that more than one description may apply to a given k...

In the last several years the MANET routing protocols and mobility model combinations have been studied widely. These studies have used different MANET parameters for performance evaluation due to which the uniformity for the sake of comparison among the research works has been missing. This work provides a comprehensive study using wide range of MANET parameters, and draws conclusions for the ...

The performance of a miniaturized channel for the separation of polymer and metal nanoparticles (NP) using Asymmetrical Flow Field-Flow Fractionation (AF4) was investigated and compared with a conventional AF4 system. To develop standard separation methods, experimental parameters like cross flow, gradient profile and injection time were varied and optimized. Corresponding chromatographic param...

− Quality control of vegetable oils is becoming more stringent, and related laws are being enforced, especially for avoiding adulteration. As a result, there is a substantial need for methods of analysis that could provide real-time in-situ monitoring, especially for quality control purposes during production process. In this regard, the present paper investigates the possibility of monitoring ...

Purpose: This study tries to develop a simulation model of six degree freedom for Faraman AM1 welding robot using CATIA V5 and compares with the computed kinematic model for robotic welding. The error varification of simulated model and kinematics of the robot is also being carried out. Design/methodology/approach: CATIA (Computer Aided Three dimensional Interactive Application) is a multi-plat...