One of the most important features of the next generation of robots is the mobility and the ability to work in an unstructured environment. Conventional manipulator arms have bounded workspace and are thus appropriate only for some limited tasks. Hence, they need additional devices such as conveyor belts and handling devices in order to perform a task requiring large workspace. A new promising ...

This paper presents a comparative study of indirect and direct workspace representation in human-robot interaction. Most of previous researches were using indirect workspace representation or were restricted to mobile robot applications. We extended human-robot interface with direct workspace representation for control of manipulator. Touch screen with representation of manipulators’ task space...

This paper designed and developed a teaching robot three degrees of freedom manipulator based on Fischer creative combination model platform. Firstly, the overall structure of the robot was analyzed to determine the drive programs, and then the manipulator structure was assembled and established in accordance with the modular design approach. Finally, the robot control system was studied. This ...

In this paper, the inverse kinematic control of a 6-DOF robot manipulator is achieved using visual motor coordination (VMC). Here the positional data is converted into image plane data of a pair of cameras. The Redundancy resolution is a prime goal for the robot manipulator with higher dimensional joint space than the task-space. In this work, we present five schemes for this redundancy resolut...

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperb...

This paper aims 3-dof scara type robot manipulator using dynamic modeling. In this paper presents dynamic modeling of robot manipulator based on Lagrange Euler formulation using Mamdani based Fuzzy controller. The aim of designing fuzzy controller is to overcome the drawbacks of conventional PID controller because robot manipulators are nonlinear model so conventional PID controller cannot give...

This technical note deals with the way of organizing the work of a manipulator on a mobile robot. Every robotic mission is composed of several navigation and manipulation operations. In this research, the robot arm actions have been sequenced, once the mobile robot has stopped, with the help of the graphical specification tool Grafcet. The proposed method has been successfully implemented in th...

This paper describes the hardwareand software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot . This so-called is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration ...

in industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. as a result, designing a controller with a suitable function based on system model is a challenging issue. sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....