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The capture of space floating target tends to excite the oscillation of the manipulator's base. In this paper, a multi-dof manipulator with controllable damper in all the joints is proposed to realize the stability control for the base. Firstly, the general dynamical equations including the controllable damping matrix are established by using Kane method. Then, the Particle Swarm Optimization (PSO)...
This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables...
Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and versatile legged robot, it is essential to have lightweight legs with optimized design and suitable actuators for the desired robot performance and tasks. The design...
Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot...
Robotic arms have been proposed since the 50's and they have evolved to play a key role in a number of applications, such as food, auto motion, and entertainment industry. Two of the paramount parameters in the design of arm robots are their weight and their strength efficiency. Our aim was to improve these two key parameters by using ABS plastic in the design and construction of a robotic arm structure...
Haptic feedback has two important sources of dynamics: the machine being controlled and the haptic device itself. This paper concentrates on the means of identifying the dynamics of a Phantom Omni haptic feedback device. Two models are compared: a dynamic model with parameters using results from sinusoidal steady state analysis and a data driven model that uses pseudo-random binary sequences (PRBS)...
In minimal invasive robotic surgery (MIRS) port placement has a particular status accounted for joint limits of the robots. The port depicts a pivot point so that the robots movement is constraint by reducing its degrees of freedom (DOF). Additionally the workspace of reachable points is limited by the instrument length and the robots' flexibility. Our approach for optimizing the port position and...
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