in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

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 research the sensitivity analysis of the geometric parameters such as: length, thickness and width of a single link flexible manipulator on maximum deflection (MD) of the end effector and vibration energy (VE) of that point are conducted. The equation of motion of the system is developed based on Gibbs-Appel (G-A) formulation. Also for modeling the elastic property of the system the ass...

In the last ten years, various grasping principles and releasing techniques suitable for microassembly have been hypothesised and successfully tested. Since in microdomain adhesion forces overcome the gravity one, new grasping principles have been exploited to grasp microparts. Unfortunately, in microassembly the most critical phase is not to grasp a micropart, but to release it. Therefore, the...

The nonholonomy exhibited by kinematic systems consisting of bodies rolling on top of each other can be used to the purpose of building dexterous mechanisms with a minimum hardware complication. Such desirable an engineering feature can be fully exploited, however, only if the capability of planning and controlling rolling motions of arbitrary objects is achieved. In this paper we present recen...

This paper describes a method to solve the direct kinematics of a generic Stewart-Gough manipulators. The method is formulated in terms of a search in the space of rigid body transformations. The underlying idea is that the solutions of the direct kinematics can be obtained by moving the end-effector body according rotations and translations and accounting for the rigidity conditions. The paper...

Contact state information is indispensable for performing skillful tasks in which an end-effector should be in contact with the environment. In previous work, the authors introduced the concept of a pseudo contact point that is useful for tasks involving contact as one expression of the contact state. In this paper, an extended definition of the pseudo contact point is proposed. The pseudo cont...

This paper describes guidelines for the design of grippers for use in modular manufacturing workcells. Gripper design is an important and often overlooked aspect of the design of a complete assembly system. Here we present guidelines which can be applied to a wide variety of grippers and are divided into two major categories: Those that improve system throughput and those that increase system r...

Rehabilitation robot positively improves walking ability of patients with gait disorders. In this paper, our discussion focuses on exoskeleton robot and end-effector robot. The purpose of this study was to compare the training methods and gait biomechanics on subjects when training on rehabilitation robots.