... is proposed, and a procedure is delineated for establishing the coordinate frame and obtaining the associated parameters. The transformation equations are derived based on a homogeneous matrix. The characteristics of traditional D–H and ED–H with regard to kinematics and dynamics are comprehensively compared...

...Lin Li; Jiadong Xiao; Yanbiao Zou; Tie Zhang Purpose The purpose of this paper is to propose a precise time-optimal path tracking approach for robots under kinematic and dynamic constraints to improve the work efficiency of robots and guarantee tracking accuracy. Design/methodology/approach...

... robot dynamic modeling of the actuators, links, together with payload inertial parameters, the paper discovers that the difference of the actuator torque between the robot moving along the same trajectory with and without carrying payload can be described as a function of the payload inertial parameters...

... in weight. Effectiveness of the transformation design has been validated through experiments. © Emerald Group Publishing Limited 2014 Dynamics Miniature The clear definition of “throw-able robot” is “the pocket-size throw-able robot is a sub-kilo class robot that provides short-range...

...Gang Zhang; Jianhua Wu; Pinkuan Liu; Han Ding Purpose – Based on the inverse kinematics and task space dynamic model, this paper aims to design a high-precision trajectory tracking controller for a 2-DoF translational parallel manipulator (TPM) driven by linear motors. Design/methodology...

... process. Additionally, the high cost of robotic systems makes it difficult to financially justify the use of this technology. The purpose of this paper is to present a new design process that gathers conceptual, kinematic and dynamic design, finite elements method (FEM), functional design and virtual...

... design fulfilling the complete set of design requirements. Design/methodology/approach The methodology includes consideration of the kinematic, static and dynamic features required for the manipulator, which must all be assessed in complete industrial design. It is applied to a 4‐degrees‐of‐freedom...

...Yongqiang Xiao; Zhijiang Du; Wei Dong Purpose The purpose of this paper is to propose a new smooth online near time‐optimal trajectory planning approach to reduce the consuming time compared to the conventional dynamics trajectory planning methods. Design/methodology/approach In the proposed...

... of such robotic systems to perform heavy object manipulation tasks. Design/methodology/approach First, a systematic procedure for dynamics modelling of such complicated systems for planar motion is presented and verified using ADAMS simulation software. Next, based on the new dynamic moment‐height stability...

.../approach The method utilizes the dynamic model of the robot manipulators to find the maximum kinematic constraints that are used with conventional trajectory patterns, such as trapezoidal velocity profiles and cubic polynomial functions. Findings The experimental results demonstrate that the proposed...

...Manuel A. Armada; Brett Browning; Jeremy Searock; Paul E. Rybski; Manuela Veloso Purpose To adapt the segway RMP, a dynamically balancing robot base, to build robots capable of playing soccer autonomously. Design/methodology/approach Focuses on the electro‐mechanical mechanisms required...

... where machines may be subjected to water jets. Additional protection measures include Class H insulation of the windings, which enhances motor life, and thermistor protection against over-temperature operation. © MCB UP Limited 2001 --> Service life Cost-effectiveness Dynamics...