Abstract: The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all, the kinematics and Jacobian for the robotic manipulators are determined through different approaches; secondly, objective functions mode...

The paper presents a concept and its implementation software modules to obtain ready to run real-time simulation code directly from Modelica models. Basically, a Modelica special model building block has been developed supporting the definition of the realtime input /output variables, their communication with external tasks or systems (e.g. a real hardware and software controller), and the sche...

In this paper, a 4-DOF robotic arm for tool handling in laparoscopic surgery is introduced. The robot provides sufficient force to handle endoscopic tools used for large organ manipulation and is capable of measuring the tool-tissue forces. The RCM constraint is achieved using a spherical mechanism and roll and insertion motions are provided using time pulley and spindle-drive, respectively. Th...

This paper presents a simulation of automatic 3D acquisition and post-processing pipeline. The proposed methodology is applied to a LASER triangulation based scanner and a 6 degrees of freedom (DOF) robotic arm simulation. The viewpoints are computed by solving a set covering problem to reduce the number of potential positions. The quality of the view plan is determined by its length and the pe...

This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientiic investigations to be conducted as part of the Mars Surveyor '98 Lander project. Solutions are presented to some of the problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing resourc...

This paper describes the design of a novel sliding mode controller for tracking of robotic manipulators. By using a proportional-integral combination of the sliding function in the boundary layer, control chattering is eliminated without deterioration of system robustness. Theoretical developments are verified by simulation results for the tracking problem of a 2 DOF robotic manipulator.

In this article we present an evolutionary technique for developing a neural network based controller for an anthropomorphic robotic arm with 4 DOF able to exhibit a reaching behaviour. Evolved neural controllers display an ability to reach targets accurately and generalize their ability to moving targets. This study demonstrates that it is possible to obtain solutions that are extremely parsim...

The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an assistant-controller is wanted. This assistant is based on external forces on the gripper of the rob...