Identification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of robot end-effectors for calibration. This method is based on an analysis of the features of a set of target points (placed on a rotating end-effect...

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is still an open and complex problem. Thus, the development of control mechanisms for biped walking have become an important field of research. With growing calculation power of computer hardware, high resolution realtime simulation of such robot models in effect becomes all the more applicable. This the...

• New geometric vector modelling of SCARA robot. Definition independent parameters based on robot joints invariants. A direct identification method “Circle Point Analysis”. Improvement the accuracy a (mean transformation error less than 0.03 mm). final compared to first and second-order Denavit–Hartenberg geometrical model. This article introduces new modeling serial kinematic consistent with p...

Robotics has always contemplated the most perfect existing machine, Human being, dreaming to realize robots able to catch a small spark of this shining light. Robots that are able to emulate human reasoning, but also human motion capabilities, robots that are qualified to coexist and cooperate safely with humans, helping us in our everyday life. Compliance is one of the most fascinating charact...

This paper presents a dynamic analysis of the ParReEx multibody mechanism, which has been designed for human wrist joint rehabilitation. The starting point research is virtual prototype mechanism. model used to simulate dynamics mechanism using ADAMS in three simulation scenarios: (a) rigid kinematic elements without friction joints, (b) with and (c) as deformable solids joints. In all cases, r...

A singularity handling method is proposed in this paper. It is done by introducing virtual redundant joints into the Jacobian matrix to maintain the rank of the Jacobian matrix when singularity occurs. These additional joints do not exist physically. Therefore, although mathematically stable, the manipulator still can not perform tasks in the degenerate direction(s). This method is comparativel...

Actuators in a robot system may become faulty during their life cycle. Locked joints, free-moving and the loss of actuator torque are common types joints where actuators fail. joint issues addressed by many published articles, whereas still opens attractive investigation challenges. The objectives this study to classify torque, named degradation, into three different cases: Boundary degradation...