Algorithm to Generate Trajectories in a Robotic Arm Using an LCD Touch Screen to Help Physically Disabled People

In the last two-decade, robotics has attracted a lot of attention from the biomedical sectors, to help physically disabled people in their quotidian lives. Therefore, the research of robotics applied in the control of an anthropomorphic robotic arm to people assistance and rehabilitation has increased considerably. In this context, robotic control is one of the most important problems and is considered the main part of trajectory planning and motion control. The main solution for robotic control is inverse-kinematics, because it provides the angles of robotic arm joints. However, there are disadvantages in the algorithms presented by several authors because the trajectory calculation needs an optimization process which implies more calculations to generate an optimized trajectory. Moreover, the solutions presented by the authors implied devices where the people are dependent or require help from other people to control these devices. This article proposes an algorithm to calculate an accuracy trajectory in any time of interest using an LCD touch screen to calculate the inverse-kinematics and get the end-point of the gripper; the trajectory is calculated using a novel distribution function proposed which makes an easy way to get fast results to the trajectory planning. The obtained results show improvements to generate a safe and fast trajectory of an anthropomorphic robotic arm using an LCD touch screen allowed calculating short trajectories with minimal fingers moves.

Conceptual designing of a slow positron beam system using Simion simulation program

The slow positron beam system is an important device in the study of positron physics and techniques, especially in materials research. This paper presents obtained results in studying and applying a charged particles trajectory simulation program – Simion for building feasible design models for the system. The built models with different designs based on reference designs of some typical systems include a straight-shaped model, a 500 bent-shaped model and a 900 bent-shaped model. Some positron beam trajectory calculation tests have been performed for comparison between the models. From the tests, the 500 bent-shaped model has been proposed as a conceptual design for building a real slow positron beam system in the future in Vietnam.