The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

Traditional force reflecting teleoperation focuses on master and slave systems that have approximately the same workspace volume. This paper addresses force reflecting teleoperation in which the workspace of the master is many orders of magnitude greater than the workspace of the slave. In addition, the forces experienced in the remote environment are one to two order of magnitude below human t...

Purpose – The purpose of this paper is to describe a calibration method developed to improve the absolute accuracy of a novel three degrees-of-freedom planar parallel robot. The robot is designed for the precise alignment of semiconductor wafers and, even though its complete workspace is slightly larger, the accuracy improvements are performed within a target workspace, in which the positions a...

Tensegrity mechanisms (TM) are well-appraised for their compliance and lightweight, making design theory a hot research topic recently. However, due to unconstrained DOFs, the analysis of TMs generally more complicated than traditional composed rigid links joints. A compact 3-DOF tensegrity manipulator is introduced an advanced two-step kinematic modeling method proposed in this paper. This fir...

Over the last decade, eye tracking systems have been developed and used in many fields, mostly to identify targets on a screen, i.e. a plane. For novel applications such as the control of robotic devices by the user vision, there is a great interest in developing methods base on eye tracking to identify target points in free three dimensional environments. The objective of this paper is to char...

The abstract should summarize the contents of the paper and should contain at least 70 and at most 150 words. It should be set in 9-point font size and should be inset 1.0 cm from the right and left margins. The coordinate measuring machine systems (CMMS) are widely used for part inspections in manufacturing plants, which mostly include bridge CMMS and horizontal CMMS driven by motor and portab...

A collision-free motion planning method for mobile robots moving in three-dimensional workspace is proposed in this article. To simplify the mathematical representation and reduce the computation complexity for collision detection, objects in the workspace are modeled as ellipsoids. By means of applying a series of coordinate and scaling transformations between the robot and the obstacles in th...

This article studies the trajectory planning of redundant robots performing tasks within an enclosed workspace. Configuration control of kinematically redundant manipulators using the pseudo-inverse with null-space projection method is a wellknown scheme. One advantage of this method is that the gradient of an objective function can be included in the homogeneous term to optimize the objective ...

This paper presents a synthesis methodology for parallel robots based on the dual quaternion synthesis of serial constrained robots, that is, serial robots with less than six degrees of freedom. This methodology uses a dual quaternion formulation of the kinematics equations. The goal of the synthesis problem is to determine the dimensions of the robot from a specification of its workspace. The ...