Singularity analysis of 6DOF St&amp;#x00E4;ubli&amp;#x00A9; TX40 robot

Vaezi, Masoud; Samavati, Farzad Cheraghpour; Jazeh, Hesam Eddin Shoori; Moosavian, S. Ali A.

doi:10.1109/icma.2011.5985699

Cited by 8 publications

(7 citation statements)

References 11 publications

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“…Robot arm joints are limited by mechanical stops, and a real value of angle is applied for a position in workspace of end effector, the following table shown us value range of all joints of manipulator arm. Several works of the workspace and singularity analysis were studied (Vaezi and Al, 2011;Djuric and Al, 2013), Knowledge of size and boundary of the workspace can smooth teleoperation and the control of manipulator arm from a distance.…”

Section: Control Interface Used In the Application Of The Teleoperationmentioning

confidence: 99%

Workspace Analysis and Geometric Modeling of 6 DOF Fanuc 200IC Robot

Bouzgou

Ahmed‐Foitih

2015

Procedia - Social and Behavioral Sciences

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In this paper, we propose a study of criteria for choosing the best solution among the solutions of the inverse geometric model of the 6 DOF robot arm, FANUC 200iC Lr Mate. Knowledge of these parameters can help us the control and the generation of motions without that the task will be redundant with a minimization of the execution time, the effort and energy consumed by actuators. For this, the solving of the inverse kinematics by an analytical method is necessary, and the Jacobian matrix give us the nonlinear equation for find the singular configurations. We validate our work by conducting a simulation software platform that allows us to verify the results of manipulation in a virtual reality environment based on VRML and Matlab software, integration with the CAD model.

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Section: Control Interface Used In the Application Of The Teleoperationmentioning

confidence: 99%

Workspace Analysis and Geometric Modeling of 6 DOF Fanuc 200IC Robot

Bouzgou

Ahmed‐Foitih

2015

Procedia - Social and Behavioral Sciences

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“…In addition, check valves force the hydraulic flow to be unidirectional. Finally, the proportional valve distributes a controlled amount of flow to each hydraulic motor to be converted to the electrical power by the generators [20][21][22].…”

Section: Hydraulic Wind Energy Transfermentioning

confidence: 99%

Energy storage techniques for hydraulic wind power systems

Vaezi

Izadian

2014

2014 International Conference on Renewable Energy Research and Application (ICRERA)

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Abstract__ Hydraulic wind power transfer systems allow collecting of energy from multiple wind turbines into one generation unit. They bring the advantage of eliminating the gearbox as a heavy and costly component. The hydraulically connected wind turbines provide variety of energy storing capabilities to mitigate the intermittent nature of wind power. This paper presents an approach to make wind power become a more reliable source on both energy and capacity by using energy storage devices, and investigates methods for wind energy electrical energy storage. The survey elaborates on three different methods named "Battery-based Energy Storage", Pumped Storage Method, and "Compressed Air Energy Storage (CAES)".

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“…The electrical circuit, which is used for generation, transfer, and storage, consists of a savonius wind turbine, a wind controller which must be robust and non-singular [15][16][17], battery banks, DC loads, an inverter, and AC loads. The diagram of this circuit is depicted in Fig.…”

Section: F Electrical Equipmentmentioning

confidence: 99%

Hidden wind farms potential for residential households having roof-mounted wind arrester

Amini

Kamoona

2014

2014 International Conference on Renewable Energy Research and Application (ICRERA)

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Abstract-Small-scale energy-generating systems are being increasingly integrated into built environment, and the use of renewable energies is now spreading to old towns in developing countries. Despite the promise of free energy, the high-tech appearance of the harnessing tools of renewables has provoked criticism because of the incompatibility with the cultural/environmental characteristics of older towns in Iran. This paper presents a new concept of novel hidden wind farms in the residential households of Iranian desert-edge towns with roofmounted wind-arresters. The results of this study show that a hidden wind farm integrated into old towns with the potential of tourism can eliminate the concern over the visibility and bird collisions as well as the use of land. In the present study, the old city of Ardakan, Yazd, with an arid climate located at the edge of a desert in the center of Iran, is selected as target case study. Calculations show that the application of one small-scale wind turbine per wind-arrester across the town can generate approximately 2.90 GWh a year. Moreover, the proposed concept could also be applied in other countries such as Afghanistan, Egypt, Pakistan, Iraq, UAE and some African countries.

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Singularity analysis of 6DOF Stäubli© TX40 robot

Cited by 8 publications

References 11 publications

Workspace Analysis and Geometric Modeling of 6 DOF Fanuc 200IC Robot

Workspace Analysis and Geometric Modeling of 6 DOF Fanuc 200IC Robot

Energy storage techniques for hydraulic wind power systems

Hidden wind farms potential for residential households having roof-mounted wind arrester

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