Abdullah Aamir Hayat

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Kinematic identification of a serial robot has been an active field of research as the need for improving the accuracy of a robot is increasing with time. Denavit-Hartenberg (DH) parameters of a serial robot, which are typically used to represent its architecture, are usually provided by its manufacturer. At times these parameters are not the same and hence(More)
In this paper, an experimental method is proposed to identify the relationship between the actuator space and joint space of an industrial robot, KUKA KR5. The mathematical model in the form of matrix relating the actuator and joint space is termed as “structure matrix”. This matrix is useful in identifying the robot’s architecture for the transfer of(More)
Provisioning of sophisticated electronic government (e-Government) applications pose several challenges to public authorities; identification and authentication of citizens is one of them. To address this challenge, governments around the world are developing their identity management systems (IDMS) keeping in view their existing ICT infrastructure, social(More)
Active force control of an industrial robot with an end-effector force/torque sensor effectively handles compliant industrial tasks like assembly operations, surface finishing jobs, cooperative manipulation, etc. However, the robot still remains intrinsically unsafe for dynamically changing environment where the chances of the links coming in contact with(More)
This paper discusses the identification of dynamic parameters of an industrial robot KUKA KR5 with all revolute joints and serial architecture. For this, the simplified model of the robot was taken into account by considering only those joints which normally operates orthogonal to the gravity vector. The first approach used for finding the dynamic(More)
Inverse kinematics of a robot is very essential to find the joint variables that satisfy the desired pose of the robot during its manipulation. This is used in controlling the robot position, animation of the robot, etc. In this paper, step-by-step explanation and comparison of two widely used methods, namely, inverse kinematics and Jacobian inverse(More)
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