This paper presents a path planning technique for a mobile manipulator whose end-effector path is imposed by a given task. The planning is done decoupling the kinematics of the mobile platform and the manipulator, and planning for the former as a normal mobile robot. Two criteria for planning the path were implemented, one minimizing the need to turn the mobile robot and the other minimizing th...

Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rot...

We describe a robotic system composed of a manipulator and two cameras. We use the vision system to guide the robot hand to a visible target. The camera positions are known only approximately. Our system does not use the details of the kinematics of the manipulator. There is no common frame of reference linking vision system, workspace and robot hand. The stereo vision system gives information ...

As any mechanism ages it will undergo structural change. In an autonomous system that operates outside of the lab it is vital that these changes be detected and compensated for. If uncompensated changes are drastic enough the basic motion model will need to be relearned. Most adaptive algorithms require complete relearning when part of the system changes and/or assume only small variations and ...

A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed. The rotation singularity analysis, the inverse kinematics, the forward kinematics, and the kinematic singularity analysis of the 3CRR TPM are then performed. The analysis shows that the proposed TPM has the following kinematic merits over previous TPMs. (1) ...

A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed. The rotation singularity analysis, the inverse kinematics, the forward kinematics, and the kinematic singularity analysis of the 3CRR TPM are then performed. The analysis shows that the proposed TPM has the following kinematic merits over previous TPMs. (1) ...

A mobile manipulator is defined as a robotic system composed of a nonholonomic mobile platform and a holonomic manipulator fixed to the platform. The kinematics of the mobile manipulator, describing velocity constraints imposed on the platform and determining actual position and orientation of the end effector, are represented by a driftless control system with outputs. The motion planning prob...

ABSTRACT Study of parallel manipulators highlights the importance of identifying singular configurations (singularities) during the design, and of avoiding them during the operation; because in these configurations the instantaneous kinematics of the manipulator becomes indeterminate. This paper focuses on the determination of singular configurations of a kinematically redundant 3-RRRR spherica...

Vision guide for a manipulator has been one of the major research issues in robotics. Coordination schemes of visuo-motor systems can be classified on the basis of the knowledge about manipulator kinematics and camera parameters. Many researchers have proposed a number of systems that deal with unknown manipulator kinematics and unknown camera parameters. In the studies, visuo-motor models are ...

The aim of the paper is to study kinematics manipulator. articulated robot with a spherical wrist has been used for this purpose. Comau NM45 Manipulator chosen kinematic model study. manipulator contains six revolution joints. Pieper’s approach employed (inverse) Using approach, inverse problem divided into two small less complex problems. This reduces time analysing kinematically. forward and ...