相关论文: Kinematic Optimization of a Robotic Arm for Automa…

The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…

Trajectory optimization of a robot manipulator consists of both optimization of the robot movement as well as optimization of the robot end-effector path. This paper aims to find optimum movement parameters including movement type, speed,…

Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…

We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot…

The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…

Soft robot arms have made significant progress towards completing human-scale tasks, but designing arms for tasks with specific load and workspace requirements remains difficult. A key challenge is the lack of model-based design tools,…

We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…

Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…

This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…

As the robotics market rapidly evolves, energy consumption has become a critical issue, particularly restricting the application of construction robots. To tackle this challenge, our study innovatively draws inspiration from the mechanics…

Energy consumption optimization of a two-link planar robotic arm is considered with the system's efficiency being the target for optimization. A new formulation of thermodynamic principles within the framework of dynamical systems is used.…

Attempts to install a rotating tool at the end of a robot arm poly-articulated date back twenty years, but these robots were not designed for that. Indeed, two essential features are necessary for machining: high rigidity and precision in a…

This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…

Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…

This paper presents a numerical method to conceive and design the kinematic model of an anthropomorphic robotic hand used for gesturing and grasping. In literature, there are few numerical methods for the finger placement of human-inspired…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…

As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…

High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent…

Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…