 Important robotic tasks could be effectively performed by powerful and accurate manipulators. However, high accuracy is generally difficult to obtain in large manipulators capable of producing high forces due to system elastic and geometric distortions. A method is presented to identify the sources of end-effector positioning errors in large manipulators using experimentally measured data. Th...

Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot m...

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...

In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting the favorable force distribution, i.e., the wrench applied on the end-effector by the legs and external efforts must be reciprocal to the tw...

In our previous work (2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2 singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of moti...

This work treats the problem of dynamic modeling and state space approximation for robotic manipulators with flexibility. Case studies are planar manipulators with a single flexible link together with clamped-free ends and tip mass conditions. In this paper, complete dynamic modeling of the flexible beam without premature linearization in the formulation of the dynamics equations is developed, ...

This paper presents a perturbation method for the dynamic simulation of flexible manipulators. In this method the vibrational motion of the manipulator is modeled as a first-order perturbation of the nominal rigid link motion. For that purpose the flexible dynamic model is split into two parts. A rigidified system describes the nominal rigid link motion of the manipulator. A linear system linea...

This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress vibration two-link underwater flexible manipulators. A dynamic model manipulators considering hydrodynamic force is established by combining Lagrange equation Morison formula. Then, divided into subsystem rigid subsystem, decomposed control strategy presented for two subsystems. In partic...