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Gokhan Gungor and Mehdi Afshari
In this study, a sensorimotor controller is designed to characterize the required muscle force to enable a robotics system to perform a human-like circular movement. When the appropriate muscle internal forces are chosen, the arm end-point tracks the des...
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Yadira Quiñonez, Oscar Zatarain, Carmen Lizarraga, Raquel Aguayo and Jezreel Mejía
In recent years, many methods have been developed to calculate the trajectory of a robotic arm in the joint-space. These methods have many advantages, such as a soft motion and infinite jerk avoidance. Nevertheless, these methods present other problems t...
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Yiyao Jiang, Guang Feng, Panglun Liu, Li Yuan, Jianbin Ding and Bingyan Jiang
Through the establishment of a three-dimensional joint clearance model, the effects of joint clearances at different positions on shimmy stability are evaluated. In this paper, considering the radial, axial and coupling characteristics of joint clearance...
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Feng Jing, Caiwen Ma, Meilin Xie, Fan Wang, Yu Cao and Xiao Fan
In this paper, the finite-time trajectory tracking control problem of a flexible link manipulator (FLM) system with unknown parameters is investigated in joint space. An adaptive nonsingular terminal sliding mode (ANTSM) controller based on an extended s...
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Jie Hou, Juan Du and Zhi Chen
To address the issues of low efficiency and lengthy running time associated with trajectory planning for 6-degree-of-freedom manipulators, this paper introduces a novel solution that generates a time-optimal path for a manipulator while adhering to its k...
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Xun Liu, Yan Xu, Jiabin Cao, Jinyu Liu and Yanzheng Zhao
NURBS curve parameter interpolation is extensively employed in precision trajectory tasks for industrial robots due to its smoother performance compared to traditional linear or circular interpolation methods. The trajectory planning systems for industri...
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Sihan Chen, Changqing Zhang and Jiaping Yi
Woodworking manipulators are applied in wood processing to promote automatic levels in the wood industry. However, traditional trajectory planning results in low operational stability and inefficiency. Therefore, we propose a method combining 3-5-3 piece...
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Charalampos Valsamos, Kanstantsin Miatliuk, Adam Wolniakowski, Vassilis Moulianitis and Nikos Aspragathos
A method for determining the optimal position of a robotic task within a manipulator?s workspace considering the minimum singularity free paths in joint space in order to achieve a high kinematic performance is presented. The selected performance criteri...
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Jiping An, Xinhong Li, Zhibin Zhang, Guohui Zhang, Wanxin Man, Gangxuan Hu and Junwei He
Space modular self-reconfigurable satellite (SMSRS) is a new type of satellite. The research on self-collision avoidance of SMSRS is important for its on-orbit safety but is not completely solved. This paper offers a new method for joint path planning fo...
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Yaser Doaei, Seyed Ehsan Aghakouchaki Hosseini, Amir Momenzadeh and Ehsan Harirchian
Space frame structures satisfy the ever-increasing requirements of societies for providing a variety of structural forms and architectural spaces with special characteristics, such as aesthetic and free-form features, population-wise capacities, and stru...
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