We propose in this work the first model-based robust control method for a team of underactuated manipulators jointly manipulating a load. The method is based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load, combined with a variable structure controller. Singularities in the control method a...

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute pointto-point motions. The manipulators considered in this study may have multiple direct and inverse kinematic solutions. The N-connected regions are characterized by projection, onto the Cartesian workspace, of the conn...

Parallel manipulators have separate serial kinematic chains that are linked to the ground and the moving platform at the same time. They have some potential advantages over serial robot manipulators such as high accuracy, greater load capacity, high mechanical rigidity, high velocity and acceleration (Kang et al., 2001; Kang & Mills, 2001). Planar Parallel Manipulators (PPMs), performing two tr...

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...

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...

Manipulators actuate joints to let end effectors perform precise path tracking tasks. Recurrent neural network which is described by dynamic models with parallel processing capability, a powerful tool for kinematic control of manipulators. Due physical limitations and actuation saturation manipulator joints, the involvement joint constraints manipulators essential critical. However, current exi...

This paper provides an overview of a new manipulation system developed for sampling and instrument placement from small autonomous mobile robots for Mars exploration. Selected out of the design space, two manipulators have been constructed and integrated into the Rocky 7 Mars rover prototype 1. This paper describes the design objectives and constraints for these manipulators, and presents the n...

1.1 Overview In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range of mechanical manipulators comprising flexible link, flexible joint and mobile manipulators are considered. Then, open-loop optimal control problem is formulated to control of the obtained system. Finally, some applicat...

This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Exampl...