Arm trajectories

This paper focuses on investigating the driving torques of industrial robot arm joints by using the topology optimization algorithm for its links. Structural optimization criteria focus on reducing the mass of links in particular and the total mass of the system in general. Preliminary results show that there is a change in driving torques in a direction favorable for the operation of the joints when total mass of robot decreases for any trajectory.

12p dathienlang1012 03-05-2024 4 1   Download

This paper presents planning the optimal trajectory using genetic algorithm. When the optimal trajectory is designed with considered constraints such as torque limit, range of motion of joints as well as velocity of joints.

15p viwolverine 11-07-2023 8 6   Download

The paper has developed an adaptive algorithm using neural network for controlling dual-arm robotic system in stable holding a rectangle object and moving it to track the desired trajectories. Firstly, an overall dynamic of the system including the dual-arm robot and the object is derived based on Euler-Lagrangian principle.

7p visherylsandber 04-07-2022 8 2   Download

The paper has developed an adaptive control using neural network for controlling a dual-arm robotic system in moving a rectangle object to the desired trajectories. Firstly, the overall dynamics of the manipulators and the object have been derived based on Euler-Lagrangian principle. And then based on the dynamics, a controller has been proposed to achieve the desired trajectories of the grasping object

9p spiritedaway36 28-11-2021 35 5   Download

In this paper, we design a controller based on hedge algebras for serial robots. The control rule is given by the linguistic rule-based system. The goal is to accurately control the moving robot arm which adheres given trajectories. Optimization of fuzzy parameters for the controller is done by genetic algorithms. The system has been simulated on the Matlab-Simulink software. The simulation results show that the tracking error is very small. Moreover, the controller worked well with correct control quality.

19p nguathienthan9 08-12-2020 12 2   Download

Evaluation of elementary writing skills in children is usually obtained with high resolution (and high cost) techniques or with low resolution pen-and-paper tests. In this observational study we tested a quantitative method to obtain normative data to describe arm movement during a writing precursor gesture.

6p vivalanbo2711 19-03-2020 15 2   Download

A computational algorithm is developed for estimating accurately the attitude of a robotic arm which moves along a predetermined path. This algorithm requires preliminary input data obtained in the static mode to yield phase observables for the precise, 3-axis attitude determination of a swinging manipulator in the dynamic mode. Measurements are recorded simultaneously by three GPS L1 receivers and then processed in several steps to accomplish this task.

9p trinhthamhodang1 16-11-2019 30 2   Download

This paper presents a Backstepping-Sliding Mode Control for dual arm robot in handling, transporting a payload to track a desired trajectory. The control law is based on Backstepping and Sliding mode control technique and Lyapunov theory. A numerical simulation was used to verify the performance and robustness of the controller

9p viengland2711 23-07-2019 43 5   Download

Near Los Angeles Basin, California THERE. Devin raised his right arm and focused directly over his wrist. It took less than a millisecond to calculate the trajectory—he didn’t have a built-in computer, but his 220 IQ served him well. He slowly breathed in and out, getting ready to squeeze the trigger between breaths, between heartbeats. His sensitive nose wrinkled as the ever-present smog that hovered over the Los Angeles Basin filled his lungs.

163p hanhdao_1 18-04-2013 38 5   Download