A generic, or more properly 1-generic, serial manipulator is one whose forward kinematic mapping exhibits singularities of given rank in a regular way. In this paper, the product-ofexponentials formulation of a kinematic mapping together with the Baker–Campbell–Hausdorff formula for Lie groups is used to derive an algebraic condition for the regularity.

In this paper, the problem of coordinated motion control of a nonholonomic mobile platform with a serial manipulator mounted on top of the platform is addressed. The redundancy resolution algorithm bases on a constraint optimization approach, where the non–holonomic behaviour of the platform is modeled into inequality constraints leading to a convex optimization problem.

In this article we’ll present an original uterine manipulator, very useful for pelvic surgery, especially for laparoscopic hysterectomies. There is a great diversity of uterine manipulators at present on the medical market, whichever making a manipulation of the uterus, a vaginal defining the seabed bag, ensuring the definition of anatomical elements for a quick and safe intervention. They can ...

In this paper, we propose a mechanical impedance for the whole arm of a serial-chain manipulator. The proposed impedance has a geometrically natural property owing to use of a spatial curve which describes a virtual reference of the impedance. The proposed impedance is useful for geometric task planning in whole-arm manipulation. Illustrative examples are shown for understanding of the impedance.

A recently developed Spatial Operator Algebra approach to modeling and analysis of multibody robotic systems is used to develop O(n) recursive algorithms which compute the Operational Space mass matrix and the Operational Space coriolis/centrifugal and gravity terms of an n{link serial manipulator. These algorithms enable an O(n) recursive implementation of Operational Space Control.

This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-dist...

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. The notion of aspect introduced for serial manipulators in [1], and redefined for parallel manipula...

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. The notion of aspect introduced for serial manipulators in [1], and redefined for parallel manipula...

In this paper, the kinematic analysis for a 6 degree-of-freedom parallel manipulator with 3-PPSP type serial subchains is performed and its kinematic characteristics are investigated via isotropic index of the first-order kinematic influence matrix. Also, dynamic analysis of the manipulator is peiformed and its dynamic characteristics is examined via the isotropic characteristics of the output ...