An automated modelling and control design environment for serial manipulators has been implemented in Matlab/Simulink. This development was motivated by the need for a fast and insightful modelling tool, given that currently available modelling environments are not well suited for control design. The manipulator configuration is defined within a graphical user interface and the corresponding ma...

Parallel manipulators feature relatively high payload and accuracy capabilities compared to their serial counterparts. However, they suffer from small workspace and low maneuverability. Kinematic redundancy for parallel manipulators can improve both of these characteristics. This paper presents a family of new kinematically redundant planar parallel manipulators with six actuated-joint degrees ...

In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved using a polynomial homotopy continuation method. Three spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these three pre-specified l...

The paper deals with geometric calibration of industrial robots and focuses on reduction of the measurement noise impact by means of proper selection of the manipulator configurations in calibration experiments. Particular attention is paid to the enhancement of measurement and optimization techniques employed in geometric parameter identification. The developed method implements a complete and...

A parallel manipulator provides an alternative design to serial manipulators, and can be found in many applications such as mining machines (Arai et al., 1991). Through the design of active joints such that actuators are fixed to the manipulator base, the mass of moving components of the parallel manipulator is greatly reduced, and high speed and high acceleration performance may be achieved. P...

there are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. in this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both newton-euler and lagrange-euler methods. the presented models are simulated for a mitsubishi pa10-6ce robotic manipulator characteristics mounte...

This paper presents the development of an O(log 2 N) parallel algorithm for the manipulator inertia matrix. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log 2 N) levels of computation. Compu...

The present study is based on motion control of an articulated model of a human index finger that has been modeled as a four-degree-of-freedom serial robotic manipulator. Preliminary studies on position and tracking control have been carried out by testing various control strategies based on proportional-derivative (PD) control in a simulation environment wherein the manipulator has been modele...

1 IRCCyN: UMR CNRS 6596, Ecole Centrale de Nantes, Université de Nantes, Ecole des Mines de Nantes Abstract— Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. This pr...

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus...