This paper presents an Internet remote control interface for a MITSUBISHI PA10-6CE manipulator established for the purpose of the ROBOT museum exhibition during spring and summer 2004. The robotic manipulator is a part of the Intelligent Robotic Systems Laboratory at Heriot – Watt University, which has been established to work on dynamic and kinematic aspects of manipulator control in the prese...

Robot manipulator play important role in the field of automobile industry, mainly it is used in gas welding application and manufacturing and assembling of motor parts. In complex trajectory, on each joint the speed of the robot manipulator is affected. For that reason, it is necessary to analyze the noise and vibration of robot's joints for predicting faults Also improve the control precision ...

A robot manipulator is a force and motion server for a robot. The robot, interpreting sensor information in terms of a world model and a task plan, issues instructions to the manipulator to carry out tasks. The control of a manipulator first involves motion trajectory generation needed when the manipulator is instructed to move to desired positions. The procedure of generating the trajectory mu...

Robot manipulator play important role in the field of automobile industry, mainly it is used in gas welding application and manufacturing and assembling of motor parts. In complex trajectory, on each joint the speed of the robot manipulator is affected. For that reason, it is necessary to analyze the noise and vibration of robot's joints for predicting faults also improve the control precision ...

We de ne image-based robot servoing as a continual process of perceptionaction cycles for the task of tool handling or object inspection. Image analysis techniques and control rules are presented as the basic components of a behaviour-based robot system. Our robot hardware consists of a bisight head on a movable platform with several degrees-of-freedom, an articulation manipulator on a stationa...

Robot calibration is a useful diagnostic method for improving the positioning accuracy in robot production and maintenance. An online robot self-calibration method based on inertial measurement unit (IMU) is presented in this paper. The method requires that the IMU is rigidly attached to the robot manipulator, which makes it possible to obtain the orientation of the manipulator with the orienta...

Of the functions of the man-machine interface of the remote control robot, those functions that are especially related to safety are described in this report. Based on the assumption that the human operator inevitably makes mistakes when issuing commands to the robot, two types of interlocks are proposed for the remote control robot system. The robot system is equipped with a fundamental, main-...

2. UNSTRUCTURED MODELING OF THE SECONDARY MANIPULA TOR The primary manipulator is assumed to have a trajectory controller for positioning its endpoint (i.e. the base of the secondary manipulator). Several linear and nonlinear control methods can be used to develop this trajectory controller. However, the concern here is the control and modeling of the secondary manipulator. The secondary manipu...

Fault diagnosis systems are important for industrial robots, especially those operated in remote and hazardous environment. Faults in robotic manipulator can cause economic and serious damages. So the Robots need the ability to independently as well as effectively detect and tolerate internal failures in order to continue performing their tasks without the need for immediate human intervention....