In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...

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...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

When using web services to perform complex data manipulations, users and administrators need control over how their changes are managed and seen by other clients of the service. This includes support for undo of changes, batch publishing of many changes, ‘what if’ analysis, the collaboration of several people in making and approving a complex change, workspace based access control, and the audi...

The paper represents first results on solving constraint nets consisting of equations and inequations containing trigonometric functions by methods of Machine Learning. Constraints of this type occur for example in planning movements of a mobile robot on a symbolic level in a workspace where obstacles or other “dangerous regions” have to be avoided. Another application area is the automatic gen...

For direct-drive legged robots operating in unstructured environments, workspace volume and force generation are competing, scarce resources. In this paper we demonstrate that introducing geared core actuation (i.e., proximal to rather than distal from the mass center) increases workspace volume and can provide a disproportionate amount of work-producing force to the mass center without affecti...

In this article, the workspace of planar wire-actuated parallel manipulators is studied. The investigation is based on two methods: an analytical method which formulates the workspace envelope by means of Cramer’s rule pertaining to the Jacobian matrix and the null space method from static analysis of manipulator. The workspace envelope method is extended to analyzing redundant planar manipulat...