The functioning of natural skeletal muscle is based on microscopic phenomena that no technology is at present able to reproduce. The notion of artificial muscle is as a consequence mainly founded on a macroscopic model of the skeletal muscle. The mimicking of both tension-length…
In this work, a system for robotic handling of fabrics towards sewing is introduced. A visual servoing manipulator controller based on fuzzy logic is designed in order to guide the fabric towards the sewing machine and produce a good seam quality. The experimental results show t…
This chapter presented a unified approach to robot trajectories coordination planning and control in Cartesian space. The unified treatment of the robot end-effector's position and orientation is based on the pose ruled surface concept and used in trajectory interpolations. The …
In this work, we have used sensing technology to endow an industrial Desktop robot with a greater degree of flexibility in dealing with its environment. The goal was an adaptive, flexible, low-cost solution to maximize efficiencies in dispensing applications. Concretely, a CCD C…
An introductory web site on robotics, with remote control of the Gryphon robot via the World Wide Web, has been successfully designed and implemented. This chapter has described the development of the web-based interface using the tools and technologies currently available. The …
In order to know the assembly process of a dual peg-in-hole and plan an insertion strategy in detail, it is important to analyze the dual peg-in-hole in three dimensions. In this paper, the assembly contact and jamming of a dual peg-in-hole in three dimensions are analyzed in de…
Motivated by the need for accurate joint torque sensing in robots, we designed a new torque sensor, based on the hollow hexaform geometry. Its key features were its extremely high sti ness and its insensitivity to the set of support forces and moments which persist in a robot jo…
This chapter has reviewed fundamental concepts and technologies of the general interdisciplinary field described usually by a combination of the terms: Virtual, Augmented or Mixed Reality systems, with the emphasis being on their applications in robot teleoperation. We have firs…
We used CORBA as communication architecture to implement networking connections between a client and the developed hand-eye robotic system. CORBA uses an Object Request Broker (ORB) as the middleware that establishes client/server relationships between objects. The client can in…
All the steps necessary to perform a kinematic calibration of serial manipulators have been discussed and applied to an actual manipulator. This first part of the chapter has compared and extended two procedures for the identification of the geometrical parameters necessary to d…
Resent advances in arc welding technology motivate rethinking of some postulates and conventions incorporated in the existing robot control methods. This chapter addresses relaxing of the downhand-position assumption, which became a de-facto standard in robotic welding and requi…
The paper has presented a complete methodology for the identification of the geometrical parameter set necessary to describe inaccuracy in the kinematic structure of a generic parallel manipulator. The methodology, that can be applied to any existing PKM, supplies a minimum, com…
