This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6‐ Gough‐Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6‐Gough‐Stewart manipulators according to the screw theory, a...

In this paper, we will discuss the potential benefits Magneto-Rheological fluids can bring to the field of human friendly manipulators. For several decades now, the robotics industry has postulated the emergence of a new breed of manipulators capable of safely interacting with humans. The integration of robots into human environments has always possessed a unique set of challenges. The primary ...

joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

the control law (3) does not only improves the transient performance, but also provides smoother outputs. It is important to stress that a better performance can still be achieved with (28) and (30). However, as discussed in Remark IV.1, increasing gains would not only cause more peaks in the outputs, but it might also yield saturation, especially for 2. V. CONCLUSION The tracking control probl...

[32] Nader Sadegh and Roberto Horowitz. Stability and robustness analysis of a class of adaptive controllers for robotic manipulators. [40] John T. Wen and David S. Bayard. Robust control for robotic manipulators part ii: Adaptive case. Comparative experiments with a new adaptive controller for robot arms.

SUMMARY The dynamic modeling and trajectory following issues are addressed for mobile modular manipulators. Simulations are performed to validate the proposed algorithms. I. INTRODUCTION Usually, modular manipulators are mounted on a fixed base whose mobility is constrained. We attach a mobile platform to the bottom of the manipulator to increase workspace. In related research work, dynamic cha...

• E The rope is tied around a cylindrical pole by dual 6 D.O.F direct drive manipulators. • E The manipulators confirm that the rope is grasped by both hands using the force sensor. • E A flexible object model and a CCD camera vision system are used to recognize the shape of the rope.