This paper addresses the problem of manipulating three-dimensional objects with a reconng-urable gripper. A detailed analysis of the problem geometry in connguration space is used to devise a simple and eecient algorithm for manipulation planning. The proposed approach has been implemented and preliminary simulation experiments are discussed.

This work performs an experimental study on the legibility of paths executed by a manipulation arm available on a Baxter robot. In this context, legibility is defined as the ability of people to effectively predict the target of the arm’s motion. Paths that are legible can improve the collaboration of robots with humans since they allow people to intuitively understand the robot’s intentions. E...

A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force cont...

T cells can 'polarize' into T1 and T2 effector cell types in response to distinct cytokines. T cells and cells presenting antigen to the T cells are themselves candidate sources of these polarizing cytokines.

Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algor...

The presented paper deals with the use of computer simulation in design a robot model 4 degrees freedom movement. MSC Adams program is used simulation, and Matlab also shown. robot's mechanism an open kinematic chain. During analysis, attention paid to solving direct problem kinematics Matlab. result solution calculated trajectory movement selected point end effector. shown graphical form. In M...

A second-generation automated deburring cell is currently under development at the National Institute of Standards and Technology. This cell will be capable of automatically generating, from part geometry and machining information, a series of robot paths for deburring aerospace parts made from superalloys. In order to compensate for the inaccuracy of robots when following computed coordinates,...

Measures of dynamic manipulability summarize a manipulator’s capacity to generate accelerations for arbitrary tasks, and such measures are useful tools for the design and control of generalpurpose robots. Existing measures, however, downplay the effects of velocity or else ignore them altogether. In this paper we derive the relationship between joint velocity and end-effector acceleration, and ...

This paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint ...