The well-known inverse kinematics problem of six-degree-of-freedom serial manipulators has been solved with several approaches, but no attention has been given to provide an explicit solution involving the generality of industrial manipulators architecture. With the aim of embracing a large spectrum of industrial manipulators in a unified platform, an anthropomorphic classification is introduce...

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

Parallel manipulators have the advantage of high speed and high precision in the theory of mechanisms. This has opened up broad possibilities for the use of parallel manipulators in many fields. But in real applications, due to the inevitable manufacturing tolerances and assembling errors, the actual kinematic parameters of parallel manipulators are always unequal to the nominal values and cali...

This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and infinite) constituting the rows of the inverse Jacobian matrix are formulated using GrassmannCayley algebra. Manipulators under consideration do not need to have a passive spherical joint somewhere in ea...

Introduction Over the past decades, with the large development of parallel structures, more attention has been paid to their kinematic, kinetostatic and dynamic properties, and in particular, to their singularities. Several papers deal with singularity analysis of parallel manipulators [111]. Most of them present the analysis of singular configurations from a kinematic point of view [1-5]. Alge...

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...