Robovolc: “A Robot for Volcano Exploration” is the name of a project funded by the European Commission, whose activities started in 2000. The main purpose of the ROBOVOLC project has been the development and trial of an automatic robotic system to explore and perform measurements in a volcanic environment. The robot, shown in Fig.1, has been realized to minimize the risk for volcanologists who ...

Hardware-in-the-loop simulation (HILS) is a technique that allows a simulation model to interact with real-world components, that is, one part of a system can be a simulation model, when other parts of the system are the actual hardware. This paper presents the development of a hydraulic SCARA manipulator model with the purpose of using it in hardware-in-the-loop simulation experiments. Most of...

Implementations of neural networks In this week exercise, I’ve selected four specific articles using artificial neural networks: 1. Artificial neural network-based segmentation and apple grading by machine vision, Devrim Unay and Bernard Gosselin. 2. Neural Network-Based Face Detection, Henry A. Rowley, Shumeet Baluja, and Takeo Kanade. 3. A Transportable Neural-Network Approach to Autonomous V...

This paper proposes a path-tracking algorithm to compensate for path deviation due to torque limits. The algorithm uses a disturbance observer with an additional saturation element at each joint of n degrees of freedom (DOF) manipulator to obtain a simple equivalent robot dynamic (SERD) model. This model is represented as an n independent double integrator system and is designed to ensure stabi...

As a key element in the semiconductor industry, efficient and stable transfer of the wafer set the very high request to the wafer transfer manipulator.At present,wafer transfer robot(SCARA-type,R-θ type) widely used in IC manufacturing equipment can only realize translational transmission to wafer,can not realize the posture change.So wafer transfer acceleration can only rely on its own gravity...

The rehabilitation robotics MASTER program was developed by the French Atomic Energy Commission (CEA) and evaluated by the APPROCHE Rehabilitation centers. The aim of this program is to increase the autonomy and quality of life of persons with tetraplegia in domestic and vocational environments. Taking advantage of its experience in nuclear robotics, the CEA has supported studies dealing with t...

The goal of our study is to obtain a precise dynamic model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. We previously proposed “decoupling identification method” for a planar serial two-link robot arm with elastic-joints caused by the Harmonicdrive reduction gears. First, this paper reviews t...