This paper presents a kinematic analysis and design characteristics of an in-parallel manipulator developed for the probing task application that requires high precision, active compliance, and high control bandwidth. The developed manipulator is a class of six-degree-of-freedom in-parallel platforms with 3 PRPS (prismatic-revolute-prismatic-spherical joints) chain geometry. The main advantages...

After discussing the Study point transformation operator, a unified way to formulate kinematic problems, using “points moving on planes or spheres” constraint equations, is introduced. Application to the direct kinematics problem solution of a number of different parallel Schönflies motion robots is then developed. Certain not widely used but useful tools of algebraic geometry are explained and...

Finding Singular configurations (singularities) is one of the mandatory steps during the design and control of mechanisms. Because, in these configurations, the instantaneous kinematics is locally undetermined that causes serious problems both to static behavior and to motion control of the mechanism. This paper addresses the problem of determining singularities of a 3-PRRR kinematically redund...

This paper concerns the control of a robot manipulator by means of passive vision. A visual servoing framework will be established during the control of a 3 degree-offreedom robot manipulator. This particular type of behavioristic control scheme is especially favorable because it is cost effective and robust to a wide range of kinematics and dynamic, modeling and calibration errors. In fact in ...

In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. To do so, the end-effector pose has to be measured with the utterst accuracy. Thus, we first evaluate the practical accuracy of ou...

In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. With a precision of the order of magnitude of 0.2mm and 0.03◦, our vision system allowed us to obtain a final positioning accuracy...

In this paper piezo actuated micromanipulators are considered with serial-parallel structure including elastic joints. Such structure allows a preliminary tension of the mechanical system in order to eliminate backlashes and to improve the performance of the piezo-actuators. A kinematics model of a serial-parallel structure for local micro manipulators is build here. A pseudo rigid body approac...

In this paper, a new methodology for motion control of mobile manipulator is presented. Motion control of mobile manipulator addresses the problem of trajectory tracking in autonomous mode witch allowing the endeffector and the plat-form to follow simultaneously desired trajectories without violating the non-holonomic constraints. Moving mobile manipulator systems presents many problems that ar...

We propose a new approach to solving the point-to-point inverse kinematics problem for highly redundant manipulators. It is inspired by recent motion planning research and explicitly takes into account constraints due to joint limits and self-collisions. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the con...

This paper presents a modeling method for a Mobile Modular Robot(MMR) which is composed of a mobile platform and a modular manipulator, the kinematics analysis is made for both the mobile platform and the upper manipulator. Then the dynamic equations are formulated considering the nonholonomic constraints and the controller is proposed with both the redundancy resolution and optimization of nul...