Robot trajectory tracking has been the core functioning unit in the modern industrial environment wherein the accuracy in the motion control of robotic manipulators is the main area of research. Based on the fact that the working of these automatic robotic machines is highly influenced by the disturbances, this paper constitutes various conventional controllers for the motion control of five ba...

A linkage is a collection of line segments, called bars, possibly joined at their ends, called joints. We consider flattening a tree-like linkage, that is, a continuous motion of their bars from an initial configuration to a final configuration looking like a“straight line segment,” preserving the length of each bar and not crossing any two bars. In this paper, we introduce a new class of linka...

The design of a knee joint is a key issue in robotics to improve the locomotion and the performances of the bipedal robots. We study a design for the knee joints of a planar bipedal robot, based on a four-bar linkage. We design walking reference trajectories composed of double support phases, single support phases and impacts. The single support phases are divided in two sub-phases. During the ...

Four-bar linkage mechanisms produced by many designers of knee joints for trans-femoral prostheses can provide knee rotation to permit walking only. In Afro-Asian countries people are accustomed to a squatting posture in their daily activities. A six-bar linkage knee-ankle mechanism trans-femoral prosthesis is described which was developed and fitted to an amputee. The motion patterns of the an...