Skilled mechanical arms of consanguine relationship formed by joints the relative motion of the adjacent interfaces enable, have been connected. Ability to perform a variety of pre-programmed robotic manipulator in various industries. Skilled mechanical arms in recent years as a significant progress has been completed. House repair and easier to work with them as well and fit and optimal relati...

Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are take...

This paper presents the utilization of inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulat...

This paper extends previous work on (suboptimal) Kalman filter based resolution of geometric uncertainties that occur during the manipulation of an object in contact with its environment. The setup consists of a force-controlled robot which has grasped a cylindrical peg; the relative position and orientation of the peg with respect to the robot end effector are only approximately known. The peg...

We present an approach for operating unknown one-degree-of-freedom (DoF) mechanisms, using a compliant robot. The key aspect of our approach is that we make only little assumptions about the operated mechanism in terms of imposed kinematic constraints on the end-effector as well as dynamic properties, which can not always be neglected. The proposed system consists of: i) a constraint estimator ...

This study investigates a Deburring process which is integrated with a robotics application. Conventional tumble deburring processes have been used for years in the surface finishing industries. The manual process is tedious, inconsistent and inaccurate. Automation in the finishing process has been proved very beneficial. Integration of robots in the process provides more flexible and convenien...

This paper presents a method to control the end-effector of a redundant manipulator tracking the surface closely with the assistance of tactile sensing, which is based on the idea of hybrid impedance control method. Not only should the position and force control be implemented, but also the actual contacting between the end-effector and the object’s surface should be monitored and sensed. The f...

In this paper we show how the mass properties of an articulated body, such as its center of mass and its moments of inertia, may be manipulated like any conventional end effector, with well-known iterative, numerical techniques. Within our interactive simulation testbed software, we illustrate this tool for the geometrical design of rigid bodies with prescribed mass properties, and for the mani...