In this paper, a novel off-line robot simulation package is developed for the industrial robot manipulators. The package allows interactive simulation of fundamental robot manipulators classified by Huang and Milenkovic [1]. The new package using Matlab Graphical User Interface (GUI) commands provides an interactive environment for serial-link robot manipulators. In the new package, there are s...

Title Type control of flexible link manipulators using neural networks PDF control of flexible link manipulators using neural networks 1st edition PDF control of robot manipulators in joint space advanced textbooks in control and signal processing PDF constructive neural networks PDF digital neural networks PDF complex valued neural networks PDF control of redundant robot manipulators theory an...

The kinematic analyses, of manipulators and other robotic devices composed of mechanical links, usually depend on the solution of sets of nonlinear equations. There are a variety of both numerical and algebraic techniques available to solve such systems of equations and to give bounds on the number of solutions. These solution methods have also led to an understanding of how special choices of ...

A hybrid type manipulation system is a combination of closed-chain and open-chain mechanisms or it is a sequence of parallel mechanisms. Parallel manipulators have high stiffness and large load capacity, but suffer from a very limited workspace volume. The hybrid manipulators overcome the limited workspace of the parallel manipulators and at the same time they have high stiffness. The determina...

The need for fast and precise robots in the industrial environment, capable of attending the productivity and quality demands and that allow a high volume of work, needs the usage of manipulators with flexible links. Besides this, aeronautic applications demand the usage of long and thin arms, which leads to remarkable structural changes. Therefore, the development of manipulators with structur...

We present a set of planar parallel manipulators of Stewart Gough type which are singular with respect to the Schönflies group X(a) without being architecturally singular. This set of so called Schönflies-singular planar parallel manipulators is characterized by the property that the carrier plane of the platform or of the base anchor points is orthogonal to the rotational axis a of the Schönfl...

The application of robots in critical missions in hazardous environments requires the development of reliable or fault tolerant manipulators. In this paper, we define fault tolerance as the ability to continue the performance of a task after immobilization of a joint due to failure. Initially, no joint limits are considered, in which case we prove the existence of fault tolerant manipulators an...

This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the ...

In this paper a flexible software framework is presented, that allows for the easy configuration, modeling, simulation, and collision avoidance for the manipulators of a service robot. The configuration of the robot including the number of manipulators, their degrees of freedom, the corresponding Denavit-Hartenberg parameters, geometry, fieldbus parameters etc. can be specified easily in xml co...

With regard to planar parallel manipulators, a general classification of singularities into three groups is given. The classification scheme relies on the properties of instantaneous centers of rotation. This method is very fast and can easily be applied to the manipulators under study. The method is applied to a planar three-degrees-of-freedom parallel manipulator and all its singular configur...