A mobile Radiation Protection Assistant Robot (RPAR) has been designed to assist radiation workers in a hostile radiation environment. The RPAR comprises of a cubicle tri-wheeled platform and a four Degree of Freedom (4-DOF) serial type articulated robotic arm. The movement of the platform is controlled by two differential wheeled driving systems. The RPAR is helpful in radiation mapping, handl...

In this article, we present the design and implementation of different control strategies for position a 2-Degree-of-Freedom (DoF) robotic arm, namely gain scheduling per trenches, by interpolation, adaptive control, fuzzy logic. The first link robot is driven an Alternating Current Brushless Permanent Magnet Motor (ACBPMM) through three-phase multi-level inverter with 27 levels voltage phase. ...

In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

Relating an arm Cartesian space to joint space and arm dynamics, is an essential issue in arm control that has been given a substantial attention by number of researches. Arm inverse kinematic, is a nonlinear relation, and a closed form solution is not a straight forward, or does not even always exist. This research is presenting a practical use of Neuro-Fuzzy system to solve inverse kinematics...

In this paper we describe mechanical and electronic design of a precision, 2-DOF robot manipulator. The manipulator is one of a wide variety of modular robotic agents in the minifactory, a rapidly depoyable precision assembly system under development in our laboratory. The manipulator, in cooperation with another type of 2-DOF robot, termed a courier, can perform 4-DOF assembly operations emula...

The pneumatic robotic assistance system is fully MR-compatible and consists of a robot arm which can be manipulated in 6 degrees of freedom [1]. The robot arm is attached to a 260° arch that is mounted to the patient table of the scanner and can be passively prepositioned on the orbit at vertical 0°, 30° and 60° at each sides of the orbital according to the region of interest (e.g. spine, liver...

Materials and Method.s The pneumatic robotic assistance system is fully MR-compatible and consists of a robot arm which can be manipulated in 6 degrees of freedom [1]. The robot arm is attached to a 180° arch that is mounted to the patient table of the scanner and can be passively prepositioned on the orbit at vertical (0°, ± 35°, ± 67°) at each sides of the orbital according to the region of i...

Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...

This paper introduces a computationally efficient control scheme for safe human–robot interaction. The method relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time, thus ensuring that robot can safely operate close proximity humans. resulting constrained steer arm desired end-effector pose (or steady-state admissible approximation thereof)...