Comparing with the serial ones, parallel manipulators have potential advantages in terms of high stiffness, accuracy and speed (Merlet, 2001). Especially the high accuracy and speed performances make the parallel manipulators widely applied to the following fields, like the pick-and-place operation in food, medicine, electronic industry and so on. At present, the key issues are the ways to meet...

In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are given in order to illustrate graphically the results. This study is of high interest for planning trajectories in the joint space of 3-RPR parallel manipulator...

This paper proposes a new approach named predictive control of redundant manipulators based on avoidance manipulability to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses...

Prediction markets are increasingly being considered as methods for gathering, summarizing and aggregating diffuse information by governments and businesses alike. Critics worry that these markets are susceptible to price manipulation by agents who wish to distort decision making. We study the effect of manipulators on an experimental market, and find that manipulators are unable to distort pri...

In this paper, adaptive control of multiple mobile manipulators carrying a common object in a cooperative manner with unknown inertia parameters and disturbances has been investigated. firstly, A complete dynamics consisting of the dynamics of mobile manipulators and the object is presented for coordinated multiple mobile manipulators. Then, adaptive control has been designed for compensating p...

A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DO’s, which are designed or analyzed b...

this paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (pso) algorithm. pso algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ise) as a performance criteria. in this paper, an improved pso using logic is proposed to increase the convergenc...

This paper briefly presents a gear joint with two degrees of freedom and describes possibility use for manipulators unmanned flying manipulators. A kinematic scheme is developed its characterizations. Its characterization expressed as function parameters external applied torques input speeds on the shaft. General schemes are considered manipulator design operation analysis joint.

This paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multi-degree of freedom manipulators. Arm movements assist with stability and recovery for ground robots, in particular humanoids and dynamically balancing vehicles. However, there is little work in aerial robotics where the manipulators themselves facilitate flight stability or the load mass is rep...