For medical and surgical applications, human modelling and simulation have to be very accurate and realistic. This means that both geometries and movements have to be reproduced precisely, investigating both physiological properties and anatomical shapes. This paper deals with the description of geometrical constraints to mimic the movement of the upper limb segments subjected to physical joint...

of joint elasticity and kinematic redundancy. More specifically, manipulators in which there are more controlled (joint space) degrees of freedom than task space degrees of freedom and in which at least one of these controlled joints is connected to an adjacent link through an elastic coupling are discussed. It will be shown that there is a wide class of examples for which it is impossible to f...

The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint variables corresponds to considering the actuated joints locked, which makes the manipulator a structure. The solutions of the DPA of a manipulator one to one correspond to the ...

Precisely fitting the bottom sticker of wine box base to model with glue is an important process production line. The influence joint clearance in assembly robot on precision bases investigated. We analyze axial and radial a 3D revolute present 12 possible contact forms between bearings journals, as well three modes free flight mode, continuous pseudo penetration mode them under different forms...

The key function of the teleoperation system is to support the operator to perform complex, uncertain tasks in hazardous and less structured environments, such as space, nuclear plants, battlefield, surveillance, and underwater operations. In this study a teleoperation system was designed by force feedback joystick, sliding mode non-linear controller and 2 degree of freedom revolute joint robot...

A method for computing minimum cost trajectory planning for industrial robot manipulators is presented. The objective function minimizes the cost function with the constraints being joint positions, velocities, jerks and torques by considering dynamic equations of motion. A clamped cubic spline is used to represent the trajectory. This is a non-linear constrained optimization problem. The probl...

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In this paper the dynamic equivalence of planar mechanisms is investigated by decomposition of inertia into point masses. For a planar rigid body, two point masses can fully describe its dynamic behavior. The location of one these points can be chosen freely, fixing the second point. By locating one of the two point masses of a link on a revolute joint, this link can be fully described by the o...

The influences of geometric constraint errors on the mobility of a 3-DOF translational parallel manipulator (TPM) are discussed in this paper. It is demonstrated based on screw theory that the mobility of the TPM may vanish if there exist manufacturing and installation errors violating the constraint conditions. To avoid such a zeromobility case, the original manipulator is converted into a non...

The UDUT – U and D are respectively the upper triangular and diagonal matrices – decomposition of the generalized inertia matrix of an n-link serial manipulator, introduced elsewhere, is used here for the simulation of industrial manipulators which are mainly of serial type. The decomposition is based on the application of the Gaussian elimination rules to the recursive expressions of the eleme...