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1
Reddy, B. Nithin. "Mechanical Design and Analysis of Six-Degree-of-Freedom (6-DOF) SCARA Robot for Industrial Applications." International Journal for Research in Applied Science and Engineering Technology 12, no. 4 (2024): 6080–87. http://dx.doi.org/10.22214/ijraset.2024.59008.
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Abstract: A six-degree-of-freedom (6-DOF) SCARA robot is an advanced robotic system capable of moving and manipulating objects in a three-dimensional space with a high degree of precision and flexibility. The term "SCARA" stands for "Selective Compliance Articulated Robot Arm," indicating its design that allows a combination of rigidity and compliance along specific axes. This unique combination of features makes 6-DOF SCARA robots highly versatile and suitable for a wide range of industrial applications. Unlike traditional SCARA robots that typically have four degrees of freedom, the addition of two extra degrees of freedom enhances the 6-DOF SCARA robot's spatial reach and manipulation capabilities. This enables the robot to perform tasks that require complex orientations, intricate movements, and precise positioning within a 3D workspace. The mechanical design, kinematics, and control strategies of these robots are carefully developed to ensure accurate and efficient performance, making them valuable tools in various industries. 6-DOF SCARA robots find applications in numerous industries where precise manipulation, efficient automation, and versatile positioning are crucial.
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Raheem qasim, Kian, Yousif I. Al Mashhadany, and Esam T. Yassen. "An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application." Iraqi Journal for Computers and Informatics 49, no. 1 (2023): 66–83. http://dx.doi.org/10.25195/ijci.v49i1.405.
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With technological advancements and the development of robots have begun to be utilized in numerous sectors, including industrial, agricultural, and medical. Optimizing the path planning of robot manipulators is a fundamental aspect of robot research with promising future prospects. The precise robot manipulator tracks can enhance the efficacy of a variety of robot duties, such as workshop operations, crop harvesting, and medical procedures, among others. Trajectory planning for robot manipulators is one of the fundamental robot technologies, and manipulator trajectory accuracy can be enhanced by the design of their controllers. However, the majority of controllers devised up to this point were incapable of effectively resolving the nonlinearity and uncertainty issues of high-degree freedom manipulators in order to overcome these issues and enhance the track performance of high-degree freedom manipulators. Developing practical path-planning algorithms to efficiently complete robot functions in autonomous robotics is critical. In addition, designing a collision-free path in conjunction with the physical limitations of the robot is a very challenging challenge due to the complex environment surrounding the dynamics and kinetics of robots with different degrees of freedom (DoF) and/or multiple arms. The advantages and disadvantages of current robot motion planning methods, incompleteness, scalability, safety, stability, smoothness, accuracy, optimization, and efficiency are examined in this paper.
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Pierrot, François, Masaru Uchiyama, Pierre Dauchez, and Alain Fournier. "A New Design of a 6-DOF Parallel Robot." Journal of Robotics and Mechatronics 2, no. 4 (1990): 308–15. http://dx.doi.org/10.20965/jrm.1990.p0308.
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This paper presents a six-degree-of-freedom parallel robot which has been recently designed. The design is based on a three-degree-of-freedom parallel robot called DELTA which was designed in Switzerland by EPFL. First, we give equations corresponding to different models of the DELTA robot: forward and inverse kinematics as well as inverse dynamics. An important feature of our method in deriving these models is to use a “good” set of parameters in order to simplify the equations. Then, in an attempt to extend the principle of the DELTA robot mechanical structure to a six-degree-offreedom parallel robot, we propose a new design called HEXA. Equations for kinematics and dynamics of the HEXA robot are presented and show that it has the same dynamic capabilities as the DELTA robot because, like the DELTA robot, it can be built with light-weight materials and easily modeled. Finally, we discuss optimization of the HEXA robot mechanical structure.
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Zeng, Xiao Hua, Jia Chen, and Li Kun Peng. "Statics Analysis of 6-DOF Parallel Robot Based on Screw Theory." Applied Mechanics and Materials 536-537 (April 2014): 965–69. http://dx.doi.org/10.4028/www.scientific.net/amm.536-537.965.
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Screw theory was introduced and inducted to the statics analysis and calculation of 6-DOF (Degree of Freedom) parallel robot. Based on the scheme, a 6-DOF parallel robot--hydraulic Stewart test platform was checked specially. The results reveal that, the platform design is appropriate, the analysis procedure is concise and the calculation operation is simple and convenient.
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Sudharsan, Jayabalan, and L. Karunamoorthy. "Derivation of Forward and Inverse Kinematics of 8 - Degrees of Freedom Based Bio-Inspired Humanoid Robotic Arm." Advanced Materials Research 984-985 (July 2014): 1245–52. http://dx.doi.org/10.4028/www.scientific.net/amr.984-985.1245.
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Designing a humanoid robot is a complex issue and the exact resemblance of human arm movements has not been achieved in many of the previously developed robots. This paper is going to be much focused on the design of a humanoid robot arm which has a unique approach which has never been developed earlier. Even though all the robots that have been developed using 6-Degrees of Freedom (DOF) and 7-DOF can reach any point in the space, some of the orientation cannot be reached by the end effector plane effectively. So an 8-DOF freedom based robotic arm has been specially designed and developed to resemble the exact movements of the human being. This robot has 3-DOF for shoulder joint, 2-DOF for the elbow joint, and 3-DOF for the wrist with fingers as the end effector. Almost all the robots have only 1-DOF to the elbow joint but here 2-DOF has been proposed to resemble the exact movements of the human being (2-DOF at elbow) to solve the above mentioned problem. Literature reviews and design model are discussed in detail to support the proposal that has been made. Forward and inverse Kinematic relationships are also obtained for the joint link parameter. This humanoid robot arm which has been designed and developed is one of the modules of a human size humanoid robot RALA (Robot based on Autonomous Learning Algorithm).
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Wang, Cai Dong, Xin Jie Wang, Xue Dong Chen, and Chao Hui Zhang. "Error Analysis of 6-DOF Welding Robot." Applied Mechanics and Materials 220-223 (November 2012): 1111–15. http://dx.doi.org/10.4028/www.scientific.net/amm.220-223.1111.
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Welding robot has the advantages that welding quality stability, high efficiency, improving the working conditions of workers, and it is widely applied in the manufacturing sector. A six degree of freedom welding robot configuration is presented in this paper. The kinematics model of the robot is established by DH method and its kinematics was analyzed. At last the error model of the position-pose of the robot end-effecter, produced by the influence of robot joint movement variables deviation and structure deviation, was established by the differential method. The deviation influence on the end-effecter was analyzed by numerical simulation. The results prove the error model is right, and they will provide a reliable basis for robot position error compensation and accuracy optimum design.
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Fan, Jingsong, Xiangqiang Zhong, Zhimin Di, and Huajie Fang. "Collaborative operation of 6-DOF industrial robot based on digital twin." Journal of Physics: Conference Series 2206, no. 1 (2022): 012019. http://dx.doi.org/10.1088/1742-6596/2206/1/012019.
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Abstract In order to realize the collaborative operation between the physical prototype and the virtual prototype of industrial robot, a digital twin model of a six-degree-of-freedom industrial robot was established. The structure and motion parameters of the 6-DOF industrial robot are introduced. The virtual prototype model of the industrial robot was established based on Visual One; the digital twin modeling of the industrial robot was completed by the three methods communication between the virtual prototype of the industrial robot and the physical prototype was realized, and the virtual and real collaborative operation of the twin robot and the physical robot was realized. Experiments show that when manipulating the movement of the robot on the physical terminal, the digital twin was consistent with its behavior. The research results provide references for the application of digital twin technology in the field of industrial robots.
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Ding, Li, Hongtao Wu, Yu Yao, and Yuxuan Yang. "Dynamic Model Identification for 6-DOF Industrial Robots." Journal of Robotics 2015 (2015): 1–9. http://dx.doi.org/10.1155/2015/471478.
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A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented. The system model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments are carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal trajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we validate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency of our proposed identification algorithm and the accuracy of the identified robot model.
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Cheng, Jun, Shusheng Bi, Chang Yuan, Yueri Cai, Yanbin Yao, and Ling Zhang. "Dynamic Modeling Method of Multibody System of 6-DOF Robot Based on Screw Theory." Machines 10, no. 7 (2022): 499. http://dx.doi.org/10.3390/machines10070499.
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An accurate dynamic model is a prerequisite for realizing precise control of industrial robots. The dynamics research of multi-degree of freedom (DOF) robots is relatively unexplored and needs to be solved urgently. In this paper, a dynamic modeling method of multibody system of 6-DOF robot is proposed based on the screw theory. The established dynamic model has a more concise and unified mathematical form, and the modular matrix expression is convenient for the control of the robot. In order to ensure that the screw method is suitable for motion in a wide range of angles, quaternions are used as generalized angular coordinates, and the model established thereby eliminates singularities and improves computational efficiency. The correctness and accuracy of the screw method is verified by the simulation example, and the modeling theory and method can provide a theoretical basis for the precise control of the robot.
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Jha, Sachchidanand. "Modelling and Control of 6- Degrees of Freedom movement Using Fuzzy Logic." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 08, no. 07 (2024): 1–6. http://dx.doi.org/10.55041/ijsrem36298.
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After the 20 th century, the automotive industry is experiencing significant growth. This paper presents the design of a robotic arm capable of emulating the dexterity of the human hand, facilitating object manipulation in laboratory, industrial, or hazardous environments with 6 degrees of freedom (6-DOF). To analyse torque characteristics, a humanoid robot arm model is employed, simulating tasks such as lifting and transferring the objects. Current robotic hands often lack full hand functionality, limiting their use in environments tailored for human interaction. Acquiring high reliability trajectory tracking remains a formidable obitual in the field of industrial robot control, primarily due to nonlinearities and input couplings inherent in robot arm dynamics. In this we are focuses on the modelling and control of a 6-degree of freedom (DOF) robot arm, progressing through five key developmental stages. Initially, a comprehensive computer-aided design (CAD) model of the 6-DOF robot arm is developed. Subsequently, the CAD model is translated into a physical model using Sim Mechanics Link. The core of the paper involves applying a Neuro-Fuzzy Controller to the robot arm, known for its adaptability in handling complex and nonlinear systems. The controller implementation, simulations are conducted using MATLAB/Simulink, a robust platform for dynamic system analysis. The performance evaluation compares the Neuro-Fuzzy controller against a linear controller across key metrics: rise time, percentage overshoot, settling time, and steady-state errors. The findings indicate that the Neuro-Fuzzy controller outperforms the linear controller significantly in all measured characteristics. This underscores its suitability for enhancing trajectory tracking precision in industrial robotic applications. Keywords: MATLAB, CAD Model, SolidWorks software
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Vaida, Calin, Nicolae Plitea, Dorin Lese, and Doina Liana Pisla. "A Parallel Reconfigurable Robot with Six Degrees of Freedom." Applied Mechanics and Materials 162 (March 2012): 204–13. http://dx.doi.org/10.4028/www.scientific.net/amm.162.204.
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Shorter development times, wide variety of products and manufacturing costs optimization lead towards the development of a new type of robots that are more flexible and adaptable to all these changes. The idea of reconfiguration is thus born, many studies being focused on enlarging and improving this concept. Reconfigurable robotic systems are those that can change their geometry, their mobility degree and be default, their workspace and their applicability. This paper presents a 6 degrees of freedom (DOF) reconfigurable robot, entitled RECROB, its kinematics and possible reconfigurations with different DOFs. Based on the analysis of structure two possible configurations are identified, one of them being modeled and simulated. The paper ends with the reachable workspace representation, conclusions and applicability of such a robot.
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Gao, Mingyu, Da Chen, Yuxiang Yang, and Zhiwei He. "A fixed-distance planning algorithm for 6-DOF manipulators." Industrial Robot: An International Journal 42, no. 6 (2015): 586–99. http://dx.doi.org/10.1108/ir-04-2015-0077.
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Purpose – The purpose of this paper is to propose a new trajectory planning algorithm for industrial robots, which can let the robots move through a desired spatial trajectory, avoid colliding with other objects and achieve accurate movements. Trajectory planning algorithms are the soul of motion control of industrial robots. A predefined space trajectory can let the robot move through the desired spatial coordinates, avoid colliding with other objects and achieve accurate movements. Design/methodology/approach – The mathematical expressions of the proposed algorithm are deduced. The speed control, position control and orientation control strategies are realized and verified with simulations, and then implemented on a six degrees of freedom (6-DOF) industrial robot platform. Findings – A fixed-distance trajectory planning algorithm based on Cartesian coordinates was presented. The linear trajectory, circular trajectory, helical trajectory and parabolic trajectory in Cartesian coordinates were implemented on the 6-DOF industrial robot. Originality/value – A simple and efficient algorithm is proposed. Enrich the kind of trajectory which the industrial robot can realize. In addition, the industrial robot can move more concisely, smoothly and precisely.
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Shi, Xinxin, Jiacai Huang, and Fangzheng Gao. "Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot." Mathematical Problems in Engineering 2020 (December 28, 2020): 1–7. http://dx.doi.org/10.1155/2020/3657848.
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A novel 6-degree-of-freedom (6-DOF) parallel robot driven by six novel linear motors is designed and controlled in this paper. Detailed structures of linear motors are illustrated. A control strategy based on kinematics of the 6-DOF parallel robot is used, and six linear motors are controlled to track their own desired trajectories under a designed fractional-order active disturbance rejection controller (FOADRC). Compared with the normal ADRC, two desired trajectories and three different working situations of a linear motor are simulated to show good performances of the FOADRC. Experimental results show that six linear motors can track their own desired trajectories accurately under payloads and disturbances, and the novel 6-DOF parallel robot can be controlled well.
14
Takamasu, Kiyoshi. "Measurement System for Multiple Degrees of Freedom Moving Robot." Journal of Robotics and Mechatronics 5, no. 5 (1993): 453–56. http://dx.doi.org/10.20965/jrm.1993.p0453.
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The multiple degrees of freedom (multi-DOF) moving robot and its measurement system have been developed realize a positioning system with high flexibility. The multi-DOF robot is driven by six piezo-electric devices; and it moves in two modes, an absolute motion mode and a relative motion mode. In the absolute motion mode, it walks on a surface plate by a two-dimensional inchworm method having 3-DOF, in X and Y directions and a rotation. After a frame body is fixed, a center table can be positioned on 6-DOF. For measuring its position, the novel position measurement system has been developed. It has two measurement modes; an absolute measurement mode and a relative measurement mode. In the absolute mode, the two-dimensional position of the robot can be calculated from the length of a laser interferometer and the angle of a tracking mirror. After the tracking mirror is fixed, the relative displacement of the center table is measured by the laser interferometer, and the position of a reflecting laser beam is measured on a Position Sensitive Detector (PSD). We conclude that the high flexibility positioning system can be realized using the multi-DOF robot and the measurement system.
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Zhang, Hongsheng, Qianjin Xia, Jinchao Sun, and Qingjuan Zhao. "A Fully Geometric Approach for Inverse Kinematics of a Six-Degree-of-Freedom Robot Arm." Journal of Physics: Conference Series 2338, no. 1 (2022): 012089. http://dx.doi.org/10.1088/1742-6596/2338/1/012089.
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Abstract This paper presents an analytical solution to inverse kinematics problem of a 6-DOF robot arm based on geometric method. The solution only utilizes relations between vectors in frames attached in the robot arm. Experiments with the solution are conducted to test the approach and results show that the correctness and accuracy of the solution are verified.
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Huang, Qitao, Peng Wang, Yuhao Wang, Xiaohua Xia, and Songjing Li. "Kinematic Analysis of Bionic Elephant Trunk Robot Based on Flexible Series-Parallel Structure." Biomimetics 7, no. 4 (2022): 228. http://dx.doi.org/10.3390/biomimetics7040228.
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Researchers borrow ideas from biological characteristics and behavior in design to make bionic robots that can meet unstructured and complex operating environments. The elephant trunk has been widely imitated by bionic robots because of its strong dexterity and stiffness adjustability. Due to the complex structure of the current elephant trunk robot, a series-parallel elephant trunk robot based on flexible rod actuation and a 6-degree-of-freedom (6-dof) parallel module is proposed in this paper. The bionic robot has a simple structure and redundant kinematics, which can realize the control of stiffness. This work focuses on the modeling of the flexible driving rod, the kinematics of a single parallel module, and the whole biomimetic robot. The kinematics are verified by simulation, which lays a foundation for future research on stiffness regulation.
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Pan, Qiran. "Design and analysis of an autonomous warehouse robot system with 6-DOF manipulator." Applied and Computational Engineering 34, no. 1 (2024): 114–21. http://dx.doi.org/10.54254/2755-2721/34/20230310.
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With the increasing need for efficiency and accuracy in warehouse operations, the functions and market demands of automated warehouse robots are constantly increasing. This study presents the design, simulation, and implementation of a warehouse robot, showcasing effective automation solution. Leveraging the Robot Operating System (ROS) and Gazebo, a robot with a six-degree-of-freedom robotic arm for diverse manipulation tasks and a differential drive base for broad-spectrum navigation was designed. The simulation environment in Gazebo faithfully replicates real-world warehouse conditions, enabling comprehensive path planning and real-time modifications, powered by move_base. A camera sensor serves as the robot's safety system, designed to detect moving obstacles and initiate appropriate responses, contributing to the enhancement of warehouse safety standards. Simulation results demonstrate the robot's effectiveness in performing pick-and-place tasks while successfully navigating through the environment, indicating the significant potential for real-world warehouse automation applications. Therefore, this work provides a foundation reference for future research aimed at optimizing and expanding the capabilities of autonomous warehouse robots.
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Cation, Sarah, Michele Oliver, Robert Joel Jack, James P. Dickey, and Natasha Lee Shee. "Whole-Body Vibration Sensor Calibration Using a Six-Degree of Freedom Robot." Advances in Acoustics and Vibration 2011 (May 12, 2011): 1–7. http://dx.doi.org/10.1155/2011/276898.
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Exposure to whole-body vibration (WBV) is associated with a wide variety of health disorders and as a result WBV levels are frequently assessed. Literature outlining WBV accelerations rarely address the calibration techniques and procedures used for WBV sensors to any depth, nor are any detailed information provided regarding such procedures or sensor calibration ranges. The purpose of this paper is to describe a calibration method for a 6 DOF transducer using a hexapod robot. Also described is a separate motion capture technique used to verify the calibration for acceleration values obtained which were outside the robot calibration range in order to include an acceptable calibration range for WBV environments. The sensor calibrated in this study used linear (Y=mX) calibration equations resulting in r2 values greater than 0.97 for maximum and minimum acceleration amplitudes of up to ±8 m/s2 and maximum and minimum velocity amplitudes up to ±100°/s. The motion capture technique verified that the translational calibrations held for accelerations up to ±4 g. Thus, the calibration procedures were shown to calibrate the sensor through the expected range for 6-DOF WBV field measurements for off-road vehicles even when subjected to shocks as a result of high speed travel over rough terrain.
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Oh, Jong-Seok, Jung Sohn, and Seung-Bok Choi. "Material Characterization of Hardening Soft Sponge Featuring MR Fluid and Application of 6-DOF MR Haptic Master for Robot-Assisted Surgery." Materials 11, no. 8 (2018): 1268. http://dx.doi.org/10.3390/ma11081268.
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In this work, the material characterization of hardening magneto-rheological (MR) sponge is analyzed and a robot-assisted surgery system integrated with a 6-degrees-of-freedom (DOF) haptic master and slave root is constructed. As a first step, the viscoelastic property of MR sponge is experimentally analyzed. Based on the viscoelastic property and controllability, a MR sponge which can mimic the several reaction force characteristics of human-like organs is devised and manufactured. Secondly, a slave robot corresponding to the degree of the haptic master is manufactured and integrated with the master. In order to manipulate the robot motion by the master, the kinematic analysis of the master and slave robots is performed. Subsequently, a simple robot cutting surgery system which is manipulated by the haptic master and MR sponge is established. It is then demonstrated from this system that using both MR devices can provide more accurate cutting surgery than the case using the haptic master only.
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Karnam, Murali, Marek Zelechowski, Philippe C. Cattin, Georg Rauter, and Nicolas Gerig. "Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control." Current Directions in Biomedical Engineering 8, no. 2 (2022): 225–28. http://dx.doi.org/10.1515/cdbme-2022-1058.
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Abstract In robot-assisted surgeries, the surgeon focuses on the surgical tool and its pose, and not on the complete robot’s shape. However, the joints of redundant robots (robots that have more degrees of freedom (DoF) than needed for the positioning of surgical tools) might move in unexpected/undesired ways. Joint motions that lead to patient or collisions are safety critical. We assume that the medical personnel in the operating room can best decide if a planned robot motions come too close to the patient or not. Therefore, we propose an augmented reality-based solution to interact with the robot during surgery planning, and intervention. The tool can be used to command a robot by drawing a trajectory in augmented reality (AR), visualizing the robot movement to check if it is safe before execution. The proposed solution allows surgeons to plan safe robot motion paths before-hand and adapt them when necessary in situ. As a proof-of-concept, we implemented and demonstrated the proposed solution on a 7-DoF redundant robot by commanding different trajectories. The control architecture to plan and execute motion for a surgical robot using AR is a key result of this work.
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Forgó, Zoltán, Ferenc Tolvaly-Roșca, and Attila Csobán. "Singular Configuration Analysis of Modular-Driven 4- and 6-DoF Parallel Topology Robots." Robotics 14, no. 5 (2025): 61. https://doi.org/10.3390/robotics14050061.
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The number of applications of parallel topology robots in industry is growing, and the interest of academics in finding new solutions and applications to implement such mechanisms is present all over the world. Industrywide, the most commonly used motion types need four- and six-degrees-of-freedom (DoF) robots. While there are commercial variants from different robot vendors, this study offers new alternatives to these. Based on Lie algebra synthesis, symmetrical parallel structures are identified, according to certain rules. Implementing 2-DoF actuation modules, the number of robot limbs is reduced compared to existing commercial robot structures. In terms of the applicability of a parallel mechanism (also concerning the control algorithm), it is important to determine singular configurations. Therefore, in addition to the kinematic schematics of the newly proposed mechanisms, their singular configurations are also discussed. Based on some dimensional simplifications (without a loss of generality), the conditions for the singular configurations are enumerated for the presented parallel topology robots with symmetrical kinematic chains. Finally, a comparison of the proposed mechanism is presented, considering its singular configurations.
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Senthil Kumaran, B., and S. J.Jebasingh Kirubakaran. "Implementation of 6-DOF Biped Footstep Planning Under Different Terrain Conditions." International Journal of Engineering & Technology 7, no. 3.12 (2018): 92. http://dx.doi.org/10.14419/ijet.v7i3.12.15870.
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Humanoid robots gain starting their anthropomorphic profile when functional in human-made environments. In direct to achieve human-like capabilities, robots must be able to recognize, understand and interrelate with the nearby world. We present the development of safe routing strategy for biped robots moving in difficulty untidy environments. In the near view, humanoids play a vital role in helping the mankind by performing the day today activities. Navigation of a humanoid under different terrain conditions such as flat, inclined and slippery environments is a challenge that requires a solution to use humanoids in the households. In this regard, in the planned paper work, a biped robot with 6-Degree of freedom has been designed and tested on the sloped and slippery surfaces, in addition to it, the ultrasonic sensors are used to identify the obstacles. Based on the obstacle identification, the biped path can be altered in order to evade impact within obstacle.
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Yoo, Seungjin, Jin Jang, Jai-Kyung Lee, and Jong-Won Park. "Optimal Robot Motion for Accelerated Life Testing of a 6-DoF Industrial Robot." Applied Sciences 10, no. 21 (2020): 7459. http://dx.doi.org/10.3390/app10217459.
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In order to verify the reliability of drive components for industrial robots, component-level life tests must be accompanied by a system-level life test using actual robots in which predefined robot motions are repeated throughout the test. To properly verify the durability of drive components through a system-level life test, it is important to design test modes so that the required test time is the same for all joint drive components of the robot, and it is necessary to design test modes with a high acceleration factor so as to shorten the required test time as much as possible. To solve this problem, the present research proposes a method for designing robot motions that makes the accelerated life test time for all the drive components of the robot equal. In particular, we solve a dynamic based motion optimization problem for an industrial 6-DoF (degrees-of-freedom) robot that minimizes the AM-GM (arithmetic mean to geometric mean) ratio of the acceleration factors of each joint. The results show that C2-continuous test modes with the same acceleration factor, which is inversely proportional to the cycle time of the robot motion, can be derived.
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Lv, Wei, Limin Tao, and Zhengnan Ji. "Sliding Mode Control of Cable-Driven Redundancy Parallel Robot with 6 DOF Based on Cable-Length Sensor Feedback." Mathematical Problems in Engineering 2017 (2017): 1–21. http://dx.doi.org/10.1155/2017/1928673.
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The sliding mode control of the cable-driven redundancy parallel robot with six degrees of freedom is studied based on the cable-length sensor feedback. Under the control scheme of task space coordinates, the cable length obtained by the cable-length sensor is used to solve the forward kinematics of the cable-driven redundancy parallel robot in real-time, which is treated as the feedback for the control system. First, the method of forward kinematics of the cable-driven redundancy parallel robot is proposed based on the tetrahedron method and Levenberg-Marquardt method. Then, an iterative initial value estimation method for the Levenberg-Marquardt method is proposed. Second, the sliding mode control method based on the exponential approach law is used to control the effector of the robot, and the influence of the sliding mode parameters on control performance is simulated. Finally, a six-degree-of-freedom position tracking experiment is carried out on the principle prototype of the cable-driven redundancy parallel robot. The experimental results show that the robot can accurately track the desired position in six directions, which indicates that the control method based on the cable-length sensor feedback for the cable-driven redundancy parallel robot is effective and feasible.
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Özbaltan, Mete, Nihan Özbaltan, Hazal Su Bıçakcı Yeşilkaya, Murat Demir, Cihat Şeker, and Merve Yıldırım. "Task Scheduling of Multiple Humanoid Robot Manipulators by Using Symbolic Control." Biomimetics 10, no. 6 (2025): 346. https://doi.org/10.3390/biomimetics10060346.
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Task scheduling for multiple humanoid robot manipulators in industrial and collaborative settings remains a significant challenge due to the complexity of coordination, resource sharing, and real-time decision-making. In this study, we propose a framework for modeling task scheduling for multiple humanoid robot manipulators by using the symbolic discrete controller synthesis technique. We encode the task scheduling problem as discrete events using parallel synchronous dataflow equations and apply our synthesis algorithms to manage the task scheduling of multiple humanoid robots via the resulting controller. The control objectives encompass the fundamental behaviors of the system, strict rules, and mutual exclusions over shared resources, categorized as the safety property, whereas the optimization objectives are directed toward maximizing the throughput of robot-processed products with optimal efficiency. The humanoid robots considered in this study consist of two pairs of six-degree-of-freedom (6-DOF) robot manipulators, and the inverse kinematics problem of the 6-DOF arms is addressed using metaheuristic approaches inspired by biomimetic principles. Our approach is experimentally validated, and the results demonstrate high accuracy and performance compared to other approaches reported in the literature. Our approach achieved an average efficiency improvement of 40% in 70-robot systems, 20% in 30-robot systems, and 10% in 10-robot systems in terms of production throughput compared to systems without a controller.
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Ma, Nan, Stephen Monk, and David Cheneler. "Modelling and Analysis of the Spital Branched Flexure-Hinge Adjustable-Stiffness Continuum Robot." Robotics 11, no. 5 (2022): 97. http://dx.doi.org/10.3390/robotics11050097.
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Continuum robots are increasingly being used in industrial and medical applications due to their high number of degrees of freedom (DoF), large workspace and their ability to operate dexterously. However, the positional accuracy of conventional continuum robots with a backbone structure is usually low due to the low stiffness of the often-lengthy driving cables/tendons. Here, this problem has been solved by integrating additional mechanisms with adjustable stiffness within the continuum robot to improve its stiffness and mechanical performance, thus enabling it to be operated with high accuracy and large payloads. To support the prediction of the improved performance of the adjustable stiffness continuum robot, a kinetostatic model was developed by considering the generalized internal loads that are caused by the deformation of the flexure-hinge mechanism and the structural stiffening caused by the external loads on the end-effector. Finally, experiments were conducted on physical prototypes of 2-DoF and 6-DoF continuum robots to validate the model. It was found that the proposed kinetostatic model validates experimental observations within an average deviation of 9.1% and 6.2% for the 2-DoF and 6-DoF continuum robots, respectively. It was also found that the kinematic accuracy of the continuum robots can be improved by a factor of 32.8 by adding the adjustable stiffness mechanisms.
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LIU, LIN, YUN-YONG SHI, and LE XIE. "A NOVEL MULTI-DOF EXOSKELETON ROBOT FOR UPPER LIMB REHABILITATION." Journal of Mechanics in Medicine and Biology 16, no. 08 (2016): 1640023. http://dx.doi.org/10.1142/s0219519416400236.
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Patients who suffer from stroke have motion function disorders. They need rehabilitation training guided by doctors and trainers. Nowadays, robots have been introduced to help the patients regain their motion function in rehabilitation training. In this paper, a novel multi degree of freedom (DOF) exoskeleton robot, with light weight, including (6[Formula: see text]1) DOFs, named as Rehab-Arm, is proposed and developed for upper limb rehabilitation. The joints of the robot are equipped with micro motors which are capable of actuating each DOF respectively and simultaneously. The medial/lateral rotation of shoulder is realized by a semi-circle guide mechanism for convenience consideration and safety. The robot is used in sitting posture which is attached to a custom made chair. Hence, the robot can be used to assist patients in passive movement with 7 DOFs of the upper limb for rehabilitation. Five adult healthy male subjects participated in the experiment to test the joint movement accuracy of the robot. Finally, subjects can wear Rehab-Arm and move their upper limb, led by micro motors of the robot, to perform task assigned with specific trajectory.
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Karupusamy, Selvaraj, Sundaram Maruthachalam, and Balaji Veerasamy. "Kinematic Modeling and Performance Analysis of a 5-DoF Robot for Welding Applications." Machines 12, no. 6 (2024): 378. http://dx.doi.org/10.3390/machines12060378.
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Robotic manipulators are critical for industrial automation, boosting productivity, quality, and safety in various production applications. Key factors like the payload, speed, accuracy, and reach define robot performance. Optimizing these factors is crucial for future robot applications across diverse fields. While 6-Degrees-of-Freedom (DoF)-articulated robots are popular due to their diverse applications, this research proposes a novel 5-DoF robot design for industrial automation, featuring a combination of three prismatic and two revolute (2R) joints, and analyzes its workspace. The proposed techno-economically efficient design offers control over the robot manipulator to achieve any reachable position and orientation within its workspace, replacing traditional 6-DoF robots. The kinematic model integrates both parallel and serial manipulator principles, combining a Cartesian mechanism with rotational mechanisms. Simulations demonstrate the end effector’s flexibility for tasks like welding, additive manufacturing, and material inspections, achieving the desired position and orientation. The research encompasses the design of linear and rotational actuators, kinematic modeling, Human–Machine Interface (HMI) development, and welding application integration. The developed robot demonstrates a superior performance and user-friendliness in welding. The experimental work validates the design’s optimized joint trajectories, efficient power usage, singularity avoidance, easy access in application areas, and reduced costs due to fewer actuators.
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Surriani, Atikah, Oyas Wahyunggoro, and Adha Imam Cahyadi. "Inverse kinematic solution and singularity avoidance using a deep deterministic policy gradient approach." IAES International Journal of Artificial Intelligence (IJ-AI) 13, no. 3 (2024): 2999. http://dx.doi.org/10.11591/ijai.v13.i3.pp2999-3009.
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<p>The robotic arm emerges as a subject of paramount significance within the industrial landscape, particularly in addressing the complexities of its kinematics. A significant research challenge lies in resolving the inverse kinematics of multiple degree of freedom (M-DOF) robotic arms. The inverse kinematics of M-DOF robotic arms pose a challenging problem to resolve, thus it involves consideration of singularities which affect the arm robot movement. This study aims a novel approach utilizing deep reinforcement learning (DRL) to tackle the inverse kinematic problem of the 6-DOF PUMA manipulator as a representative case within the M-DOF manipulator. The research employs Jacobian matrix for the kinematics system that can solve the singularity, and deep deterministic policy gradient (DDPG) as the kinematics solver. This chosen technique offers enhancing speed and ensuring stability. The results of inverse kinematic solution using DDPG were experimentally validated on a 6-DOF PUMA arm robot. The DDPG successfully solves inverse kinematic solution and avoids the singularity with 1,000 episodes and yielding a commendable total reward of 1,018.</p>
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Atikah, Surriani, Wahyunggoro Oyas, and Imam Cahyadi Adha. "Inverse kinematic solution and singularity avoidance using a deep deterministic policy gradient approach." IAES International Journal of Artificial Intelligence (IJ-AI) 13, no. 3 (2024): 2999–3009. https://doi.org/10.11591/ijai.v13.i3.pp2999-3009.
Full textAbstract:
The robotic arm emerges as a subject of paramount significance within the industrial landscape, particularly in addressing the complexities of its kinematics. A significant research challenge lies in resolving the inverse kinematics of multiple degree of freedom (M-DOF) robotic arms. The inverse kinematics of M-DOF robotic arms pose a challenging problem to resolve, thus it involves consideration of singularities which affect the arm robot movement. This study aims a novel approach utilizing deep reinforcement learning (DRL) to tackle the inverse kinematic problem of the 6-DOF PUMA manipulator as a representative case within the M-DOF manipulator. The research employs Jacobian matrix for the kinematics system that can solve the singularity, and deep deterministic policy gradient (DDPG) as the kinematics solver. This chosen technique offers enhancing speed and ensuring stability. The results of inverse kinematic solution using DDPG were experimentally validated on a 6-DOF PUMA arm robot. The DDPG successfully solves inverse kinematic solution and avoids the singularity with 1,000 episodes and yielding a commendable total reward of 1,018.
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Sirojuddin, Sirojuddin, Siti Solikhah, Ragil Sukarno, and Muhammad Izaz Tamami. "RANCANG BANGUN GRIPPER ROBOT MANIPULATOR 2 DOF KAPASITAS 1,25 KGF." Jurnal Rekayasa Mesin 14, no. 1 (2023): 23–38. http://dx.doi.org/10.21776/jrm.v14i1.999.
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Manipulator robots practically help human to move objects vertically, horizontally, or rotationally. The robot is generally divided into three components, namely arm, base, and gripper with servo motor drive. The aim of this study is to improve the previous gripper robot manipulator design so that it can move 2 DOF (Degree of Freedom) by adding 1 DOF located on the robot gripper, which in previous studies, the robot manipulator gripper was only able to move 1 DOF. In addition, after calculating using Von Mises theory, then design 2D components and this assembly using AutoCAD software. Next design 3D components and assembly using Autodesk Inventor application based on FEM (Finite Element Method). Will also make a tool in the form of a robot gripper which will later be tested for feasibility. Based on the calculating result, the minimum thickness of the most significant link is 5.1 mm. To make it easier to find plates and save costs, the thickness of all plates in each link is rounded up to 6 mm. From the result of the movement simulation, it is found that the gripper can move open, clamp and rotate, and from the FEM software result the Safety factor value = 3.58 >3.0. Meanwhile, based on the result of the feasibility test, the gripper robot manipulator is feasible.
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Zhang, J., F. Gao, H. Yu, and X. Zhao. "Use of an orthogonal parallel robot with redundant actuation as an earthquake simulator and its experiments." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 226, no. 1 (2011): 257–72. http://dx.doi.org/10.1177/0954406211413050.
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In this article, an orthogonal 6-degree-of-freedom (DOF) parallel robot with redundant actuation is studied as an earthquake motion simulator. Taking the practical simulation of earthquake waves into consideration, the general characteristics of natural earthquakes are analysed and complexity and variety of seismic waves, three-dimensional and multi-DOF movement, and strong devastating force are regarded as the three obvious features in this article. Based on the characteristics of this orthogonal 6-DOF parallel robot with redundant actuation and the features of earthquakes, the feasibility of using this parallel robot as an earthquake motion simulator is analysed from three aspects: orthogonal 6-DOF structure, decoupling feature, and redundant actuation module. In order to simulate an earthquake motion using this parallel robot, its inverse kinematics and dynamics models are derived. The control system of this earthquake simulator is developed based on the PXIbus development platform. The computed-torque control algorithm based on the inverse dynamics is used in the controller of this equipment. A typical three-directional earthquake motion, the El Centro earthquake, is simulated on the end-effector of this parallel robot by means of its mathematical models and control system. Three main motion parameters of simulated seismic waves, displacements, velocities, and accelerations, are measured, respectively, by laser tracker and acceleration sensors. The experimental results show this equipment is appropriate to be used as an earthquake simulator.
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Pisla, Doina, Iosif Birlescu, Nicolae Crisan, et al. "Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS." Machines 10, no. 9 (2022): 764. http://dx.doi.org/10.3390/machines10090764.
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The paper presents the singularity analysis and the geometric optimization of a 6-DOF (Degrees of Freedom) parallel robot for SILS (Single-Incision Laparoscopic Surgery). Based on a defined set of input/output constraint equations, the singularities of the parallel robotic system are determined and geometrically interpreted. Then, the geometric parameters (e.g., the lengths of the mechanism links) for the 6-DOF parallel robot for SILS are optimized such that the robotic system complies with an operational workspace defined in correlation with the SILS task. A numerical analysis of the singularities showed that the operational workspace is singularity free. Furthermore, numerical simulations validate the parallel robot for the next developing stages (e.g., designing and prototyping stages).
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Nguyen, Dinh Quan, Huy Hung Ha, Dinh Son Le, Van An Tran, The Hung Nguyen, and Viet Linh Cao. "Control system architecture of an intelligent humanoid robot." Vietnam Journal of Science and Technology 60, no. 6 (2022): 1162–78. http://dx.doi.org/10.15625/2525-2518/16891.
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This paper presents the hardware and control software architectures of an intelligent humanoid robot. The robot has a mobile base consists of three omnidirectional wheels that allows it to move freely with three degree-of-freedom (DOF), two 6-DOF arms and 3-DOF neck and head that allows it to perform most of the common movements of human. Detail hardware components are given to show our mechanical design solution of the robot. The control software structure of the robotic system is constructed in the robot operating system (ROS) framework which is mainly used as a bridge to connect the control modules and various peripheral devices to ease our robot system task management. We have also shown the detail structure of the robot control system which consists of all key control modules which enable the robot functions: from upper level with AI-based techniques such as image and sound processing to middle level with the robot motion controllers and then to the lower level with the management of atuators and sensors. The proposed architecture is being developed and tested on a real humanoid robot prototype called Bonbon to support Enghlish teaching in elementary schools.
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Zhou, Xuefeng, Yisheng Guan, Haifei Zhu, et al. "Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control." International Journal of Humanoid Robotics 11, no. 02 (2014): 1450014. http://dx.doi.org/10.1142/s0219843614500145.
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Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome these shortcomings, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, four walking gaits are proposed, the criterion of stable walking is addressed and analyzed, and walking patterns and motion planning are presented. Experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration.
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Okino, Akihisa, Hideaki Takanobu, Atsuo Takanishi, Kayoko Ohtsuki, Masatoshi Ohnishi, and Masayuki Yoshida. "A Clinical Jaw Movement Training Robot for Mouth Opening/Closing and Lateral Movement Training." Journal of Robotics and Mechatronics 16, no. 6 (2004): 579–86. http://dx.doi.org/10.20965/jrm.2004.p0579.
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This paper discusses a jaw movement training robot implementing a 6-DOF (degrees of freedom) parallel mechanism, and its application to mouth opening and closing and lateral movement training. Temporomandibular joints (TMJ) syndrome prevents patients from opening their mouths or moving their jaws easily due to problems with mandibular joints, mastication muscles, and other organs involved in food chewing. Conventional therapy involves simple mouth opening apparatuses, although individual techniques vary with the physician. We developed and improved a jaw movement training robot that aids jaw opening and closing and lateral jaw movement training. This system consists of a 6-DOF slave manipulator representing a patient manipulator and a 2-DOF or 3-DOF master manipulator representing the doctor command manipulator.
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Manalu, Ferry Rippun Gideon, Melisa Mulyadi, and Linda Wijayanti. "PERANCANGAN SISTEM PENGGERAK ROBOT BERKAKI MENGGUNAKAN FORWARD KINEMATICS & INVERSE KINEMATICS." Jurnal Serina Sains, Teknik dan Kedokteran 1, no. 2 (2023): 375–84. http://dx.doi.org/10.24912/jsstk.v1i2.29000.
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Dalam makalah ini dibahas mengenai penerapan sistem pembelajaran matematika trigonometri dan fisika menggunakan robot lengan dan robot berkaki. Sistem ini dikembangkan sebagai alternatif yang bisa digunakan dalam pembelajaran robotika di sekolah dasar atau di universitas dibandingkan sistem yang ada dengan harga yang mungkin jauh lebih mahal. Sistem dibangun menggunakan mikrokontroler dan motor servo yang mudah diperoleh di toko online. Sistem dibuat untuk menggerakkan robot lengan 3 derajat kebebasan (DOF: degree of freedom), robot berkaki 4 dan robot berkaki 6. Pada tahapan pengujian dilakukan pengujian ketepatan posisi dari implementasi kinematika terbalik dan pergerakan kinematika maju robot 3 DOF dengan 3 jenis motor servo analog yang berbeda. Hasil pengujian memperlihatkan bahwa motor servo tipe SG90 menghasilkan kesalahan sudut yang lebih besar yaitu sekitar 6-8 derajat dibandingkan motor servo RDS 3135. Hal ini terjadi karena torsi motor SG90 sangat kecil untuk menggerakkan lengan dibandingkan MG945 dan RDS 3135. Dari pengujian perangkat lunak dapat di simpulkan bahwa perangkat lunak sudah memiliki fitur-fitur yang dibutuhkan yaitu fitur komunikasi, fitur, pengendalian Gerakan motor dan fitur perekaman gerakan, dan semua fitur sudah berfungsi sesuai dengan tujuan.
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Qin, Yuantian, Zhehang Yin, Quanou Yang, and Kai Zhang. "Dynamics Parameter Identification of Articulated Robot." Machines 12, no. 9 (2024): 595. http://dx.doi.org/10.3390/machines12090595.
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Dynamics parameter identification in the establishment of a multiple degree-of-freedom (DOF) robot’s dynamics model poses significant challenges. This study employs a non-symbolic numerical method to establish a dynamics model based on the Newton–Euler formula and then derives a proper dynamics model through decoupling. Initially, a minimum inertial parameter set is acquired by using QR decomposition, with the inclusion of a friction model in the robot dynamics model. Subsequently, the least squares method is employed to solve for the minimum inertial parameters, forming the basis for a comprehensive robot dynamics parameter identification system. Then, after the optimization of the genetic algorithm, the Fourier series trajectory function is used to derive the trajectory function for parameter identification. Validation of the robot’s dynamics parameter identification is performed through simulation and experimentation on a 6-DOF robot, leading to a precise identification value of the robot’s inertial parameters. Furthermore, two methods are employed to verify the inertia parameters, with analysis of experimental errors demonstrating the effectiveness of the robot dynamics parameter identification method. Overall, the effectiveness of the entire calibration system is verified by experiments, which can provide valuable insights for practical engineering applications, and a complete and effective robot dynamics parameter identification scheme for a 6-DOF robot is established and improved.
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Fukui, Kotaro, Yuma Ishikawa, Eiji Shintaku, Masaaki Honda, and Atsuo Takanishi. "Anthropomorphic Talking Robot Based on Human Biomechanical Structure." Advances in Science and Technology 58 (September 2008): 153–58. http://dx.doi.org/10.4028/www.scientific.net/ast.58.153.
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We developed an anthropomorphic talking robot, Waseda Talker No. 6 (WT-6), which generates speech sounds by mechanically simulating articulatory motions and aero-acoustic phenomena. WT-6 possesses 17 degrees of freedom (DOF): a 5-DOF tongue, 1-DOF jaws, 4-DOF lips, a nasal cavity, and a 1-DOF soft palate as articulators; and 5-DOF vocal cords and 1-DOF lungs as vocal organs. The vocal cords, tongue, and lips are made from the thermoplastic rubber Septon, whose elasticity is similar to that of human tissue. WT-6 has three-dimensional (3D) lips, tongue, jaw, and velum, which form the vocal tract structure. It also has an independent jaw opening/closing mechanism. The previous robot in the series had a two-dimensional tongue and could not produce human-like tongue shape. The new tongue can form 3D shapes, and thus, is able to produce more realistic vocal tract shapes. The vocal cord model consists of two folds, and is constructed with a structure similar to the biomechanical structure of human vocal cords. These vocal cords can vibrate in complex phases, similar to those of a human. With these mechanisms, the robot can reproduce human speech in a more biomechanical manner, and thus, can produce a voice closer to that of a human.
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Rangkuti, Syahban. "RANCANG BANGUN KENDALI ROBOT HEXAPOD MENGGUNAKAN SMARTPHONE." TESLA: Jurnal Teknik Elektro 25, no. 2 (2023): 139–51. http://dx.doi.org/10.24912/tesla.v25i2.26714.
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Teknologi robotika telah berkembang dan beragam jenis dan aplikasinya, mulai robot yang dapat bekerja secara mandiri (autonomous) maupun robot yang dikendalikan melalui remote control seperti joystick, komputer dan smartphone. Penerapan robotika telah memasuki berbagai kegiatan manusia, mulai dari dunia industri sampai dunia pendidikan. Salah satu bentuk dan jenis robot yang telah banyak digunakan diantaranya adalah robot hexapod. Tujuan dari penelitian ini adalah merancang robot berkaki 6 (hexapod) serta robot mampu bergerak dengan stabil. Untuk pusat sistem kendalinya dapat menggunakan modul mikrokontroler ESP32 yang carakerja dapat diprogram sesuai dengan kebutuhan penerapannya. Dipilihnya modul ESP32 DevKitC V.4 karena modul tersebut memiliki banyak input dan output digital serta memiliki komunikasi serial I2C, komunikasi bluetooth, dan komunikasi wifi untuk dapat berinteraksi dengan modul elektronik lainnya sehingga sangat cocok untuk digunakan sebagai pusat kendali atau pusat pengolahan data untuk robot hexapod. Salah satu cara untuk mendapatkan gerakan robot yang yang baik dapat menggunakan sensor inertial measurement unit (IMU). Sensor IMU yang digunakan adalah 6 Degree of Freedom (DOF), yaitu 3 DOF untuk gyroscope dan 3 DOF lagi untuk accelerometer. Bentuk badan robot hexapod dibuat agar dapat dengan mudah diintegrasikan dengan kaki robot yang akan digunakan. Untuk menggerakkan kaki robot digunakan motor servo untuk setiap sendinya, setiap kaki robot terdiri dari 3 sendi, sehingga untuk sistem penggerak robot berkaki 6 akan membutuhkan 18 unit motor servo. Untuk mengatur arah gerakan robot maju, mundur, dan belok dapat dikendalikan dengan menggunakan smartphone. Komunikasi data antara robot hexapod dan smartphone dapat menggunakan koneksi bluetooth atau wifi.
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Wang, Wen Zhe, Shi Yue Liu, Qing Bo Geng, and Qing Fei. "Development of PC-Based Simulation and Control Platform for a 6-DOF Robotic Arm." Applied Mechanics and Materials 543-547 (March 2014): 1397–400. http://dx.doi.org/10.4028/www.scientific.net/amm.543-547.1397.
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This paper developed a 6-DOF (degree of freedom) PC-Based robotic arm system. The system mainly include in software platform and servo control card, servo control card based on microcontroller STC12C5A60S2 was designed to drive the servomotor connected with each joint of robot. The software was implemented by combining MFC with OpenGL. By using the OpenGL functions, the software is able to draw and simulate the 3D kinematic scheme of the robot, it also provides 3D motion planning simulation feature. With the help of simulation in the GUI, users can visualize the manipulator motion planning. Furthermore, user also can control the real robotic arm through this software. Finally, point-to-point motion and continuous path motion are all tested in simulation and real robot control. The entire system has been successfully implemented.
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Zhang, Gong, Zheng Xu, Zhicheng Hou, et al. "A Systematic Error Compensation Strategy Based on an Optimized Recurrent Neural Network for Collaborative Robot Dynamics." Applied Sciences 10, no. 19 (2020): 6743. http://dx.doi.org/10.3390/app10196743.
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Robot dynamics and its parameter identification are of great significance to the realization of optimal control and human–machine interaction. The objective of this research is to address the shortcomings of establishing and identifying the self-developed six-degree-of-freedom (6-DoF) collaborative robot dynamics, which leads to a large error in the predicted torque of the proposed robot. A long short-term memory (LSTM) in an optimized recurrent neural network (RNN) is proposed to compensate the dynamic model of the proposed 6-DoF collaborative robot based on the consideration of gravity, Coriolis force, inertial force, and friction force. The analysis and experimental findings provide promising results. The compensated collaborative robot dynamic model based on LSTM in an optimized RNN displays a good prediction on the actual torque, and the root-mean-square (RMS) error between predicted and actual torques are reduced by 61.8% to 78.9% compared to the traditional dynamic model. Results of the experimental applications demonstrate the validity of the proposed systematic error compensation strategy.
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Garcia, Martin, Andrea-Contreras Esquen, Mark Sabbagh, et al. "Soft Robots: Computational Design, Fabrication, and Position Control of a Novel 3-DOF Soft Robot." Machines 12, no. 8 (2024): 539. http://dx.doi.org/10.3390/machines12080539.
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This paper presents the computational design, fabrication, and control of a novel 3-degrees-of-freedom (DOF) soft parallel robot. The design is inspired by a delta robot structure. It is engineered to overcome the limitations of traditional soft serial robot arms, which are typically low in structural stiffness and blocking force. Soft robotic systems are becoming increasingly popular due to their inherent compliance match to that of human body, making them an efficient solution for applications requiring direct contact with humans. The proposed soft robot consists of three soft closed-loop kinematic chains, each of which includes a soft actuator and a compliant four-bar arm. The complex nonlinear dynamics of the soft robot are numerically modeled, and the model is validated experimentally using a 6-DOF electromagnetic position sensor. This research contributes to the growing body of literature in the field of soft robotics, providing insights into the computational design, fabrication, and control of soft parallel robots for use in a variety of complex applications.
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PARK, ILL-WOO, JUNG-YUP KIM, SEO-WOOK PARK, and JUN-HO OH. "DEVELOPMENT OF HUMANOID ROBOT PLATFORM KHR-2 (KAIST HUMANOID ROBOT 2)." International Journal of Humanoid Robotics 02, no. 04 (2005): 519–36. http://dx.doi.org/10.1142/s0219843605000612.
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The mechanical and electrical system designs and system integration including controllers and sensory devices of the humanoid KHR-2 are presented. The design concept and the objective are also discussed. Since 2003, we have been developing KHR-2, which has 41 DOF (degrees of freedom). Each arm of KHR-2 has 11 DOF in total: 5 DOF/hand (i.e. fingers), 2 DOF/wrist, and 4 DOF/arm. Each leg constitutes 6 DOF. The head constitutes 6 DOF (2 DOF for eyes and 2 DOF at the neck), and the trunk has 1 DOF. KHR-2 has been mechanically designed to have a human friendly appearance and also wide ranges of angular motion. Its joint actuators have been designed in order to reduce motion uncertainties such as backlash. All axes of KHR-2 are under distributed control, which reduces the computational burden on the main controller and also to facilitate device expansions. We have developed a microprocessor-based sub-controller for servo motor operations, onto which sensory feedback is interfaced. The main controller, which is mounted on the back of the robot communicates with sub-controllers in real-time through CAN (Controller Area Network). Windows XP is used as the OS (Operating System), which enables rapid program development. RTX (Real Time eXtension) HAL extension software is used to realize the real-time control in the Windows XP environment. KHR-2 has several sensor types such as 3-axis F/T (Force/Torque) sensors at the foot and wrist, an inertia sensor system (accelerometer and rate gyro), and a CCD camera. The F/T sensor at the foot is crucially important for stable walking. The inertia sensor system is essential for determining the inclination of the robot with respect to the ground.
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Taha, Zahari, Abdelhakim Deboucha, and Azeddein Kinsheel. "Drilling Force Control for Robot Manipulator with Combined Rigid and Soft Surface." Applied Mechanics and Materials 303-306 (February 2013): 1741–47. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1741.
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This paper presents an efficient force position control scheme for high precision drilling on soft surfaces using industrial robot. The control problem is divided into two parts; the gross motion control problem and the drilling control problem. In the gross motion stage the robot motion is controlled using computed torque technique. The drilling process is controlled using hybrid force position control that maintains the desired force and trajectory profiles. The soft surface is represented by single degree of freedom mass-spring-damper system. The performance of the system is tested using 6-dof PUMA 560 robot model.
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Bulej, Vladimir, Juraj Uríček, Viera Poppeova, Robert Zahoranský, and Monika Rupikova. "Study of the Workspace of Hybrid Mechanism Trivariant." Applied Mechanics and Materials 436 (October 2013): 366–73. http://dx.doi.org/10.4028/www.scientific.net/amm.436.366.
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This paper is focused on studies of selected process parameters of mechanism with hybrid kinematic structure called Trivariant. Small-scale prototype of Trivariant can work as a machining center with 5 Degrees of Freedom (DOF) as well as a robot with 6 DOF. In the paper is circumscribed field of mechanism workspace. All analyses are performed in selected levels of workspace.
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Alonso-Torres, Brayan, José Daniel Castro-Díaz, Mauro López-Rodríguez, and Marco Arteaga. "Development of a 6-DOF robot for haptic interaction with complex virtual environments." Memorias del Congreso Nacional de Control Automático 5, no. 1 (2022): 356–61. http://dx.doi.org/10.58571/cnca.amca.2022.044.
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In the last decade, the design and implementation of robots have taken a turnaround in areas such as haptics and virtual reality. Unlike the big and heavy industrial robots, haptic ones must be light and suitable to be easily handled by an operator. Moreover, they must have enough actuators to allow a realistic haptic interaction with a complex virtual environment. In this work, we present the two phases Research and Development process of a six-degrees-of-freedom haptic robot. In the first phase, we build on our previous work to design a spherical wrist, improving both the mechanics and electronics of an old one. In the second phase, we design a virtual environment consisting of a ball and beam system with which the operator interacts visually and haptically. The basis of our development is the well-known Novint Falcon parallel robot that acts as the first 3-DOF of the resulting device. The rest is completed with our improved spherical wrist, in which a 6-DOF force sensor that measures the interaction forces between the virtual environment and the operator was mounted. Our ultimate goal is to evaluate the usability of the obtained haptic robot and present it as a viable alternative to current commercial devices.
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Muhammad Tarmaizi, Muhammad Daniel, Mohd Hairi Mohd Zaman, Chen Yuanwei, Mohd Faisal Ibrahim, and Asraf Mohamed Moubark. "DIMENSIONAL OPTIMIZATION OF 7-DOF AGRICULTURAL ROBOT ARM." DYNA 100, no. 3 (2025): 219–24. https://doi.org/10.52152/d11323.
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Agricultural automation has emerged as a potential solution to meet the growing need in the quickly changing farming business. For example, the tasks in palm oil plantations require precision, efficiency, and adaptability to navigate the complex environment. Robotics solve these challenges by enhancing farming and executing tasks such as cutting fresh fruit bunches that surpass manual labor. By examining the optimal dimensions synthesis for the robotic arm and integrating the Denavit-Hartenberg (DH) parameters for kinematic modeling, this study aims to enhance the degree of freedom, enabling precise and flexible movements, which is crucial for navigating around palm oil trees. This research evaluates two optimization algorithms, artificial bee colony (ABC) and particle swarm optimization (PSO), specifically tailored for robotic arms in the agricultural sector and intended to improve performance. Kinematic modeling simulations are conducted using MATLAB software. This research emphasizes optimization methods to ensure the accurate and efficient execution of tasks. The results indicate that the PSO algorithm outperforms the ABC algorithm in terms of error minimization. Specifically, the mean square error for PSO is 5.0433 x 10-6, compared to 9.3904 x 10-6 for ABC. These results demonstrate that the PSO algorithm provides more accurate and efficient task execution for the robotic arm in agricultural applications. Key Words: Optimization; Topological; Dimensional; Agricultural; Forward Kinematics; Inverse Kinematics
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Chen, Ya, Jiaheng Yang, Dianjun Wang, Haoxiang Zhong, Xingkang Zheng, and Qianyang Liu. "Design and implementation of modular 6-degrees of freedom light-weight cooperative handling robot." Cobot 1 (March 24, 2022): 9. http://dx.doi.org/10.12688/cobot.17442.1.
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Background: In view of the poor working environment and high labor intensity of manual loading and unloading in the production process of small forgings, a modular 6-DOF (degrees of freedom) light-weight cooperative handling robot is designed. Combined with the computer-aided design method, the modular and lightweight design is realized through the simulation of the actual motion situation. Methods: The overall configuration and modular joints of the robot were designed, and the static characteristics analysis of the whole robot and key parts was performed using Ansys to verify the rationality of the structural design. The kinematics model of the robot was established by using the Denavit-Hartenberg parameter method and the workspace of the robot was solved by forward kinematics simulation. Performance testing of the experimental prototype was executed. The repeated positioning accuracy was analyzed by a laser tracker to measure the position information at the end of the robot. Results: The results show that the repetitive positioning accuracy of the robot is 0.09mm, which can meet the requirements of loading and unloading handling in forging production. Conclusions: The study provides a theoretical basis for the structure design and optimization of the light-weight cooperative robot.
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Fadzillah, Hanafi, Iwan Setiawan, and Sumardi Sumardi. "PERANCANGAN SLAVE ARM-MANIPULATOR ROBOT 6-DOF DENGAN REMOTE CENTER OF MOTION MEKANIK BERBASIS INVERSE KINEMATICS." Transient: Jurnal Ilmiah Teknik Elektro 12, no. 3 (2023): 102–8. http://dx.doi.org/10.14710/transient.v12i3.102-108.
Full textAbstract:
Penelitian mengenai robot bedah di dalam dunia medis menjadi salah satu penelitian yang cukup populer karena manfaatnya dalam MIS (Minimal Invasive Surgery). Pembedahan ini memungkinkan pasien untuk mengalami sayatan kecil dalam pembedahan sehingga pasien tidak mengalami pendarahan berlebih dan cepat sembuh dari opname. Oleh karena itu, pada penelitian ini dibahas mengenai perancangan manipulator robot 6 DOF (Degree of Freedom) dengan RCM (Remote Center of Motion) Mekanik. RCM mekanik memungkin rod end effector robot bergerak dengan mempertahankan satu titik statis yang di dalam dunia medis disebut trocar point. Dengan adanya RCM ini, beban sistem kendali robot dapat dikurangi dan titik trocar yang didapatkan tetap. Differential inverse kinematics yang memanfaat Matriks Jacobian digunakan sebagai sistem kendali robot. Karena metode differential inverse kinematics merupakan metode yang iteratif, algoritma trajectory planning dirancang untuk menyatu dengan metode inverse kinematic. Posisi end effector yang didapatkan melalui metode kendali ini memiliki error maksimum rata-rata sebesar 36 mm dengan hasil trajectory planning yang halus menyerupai respon sistem orde 1.