The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such system can be understood as special type hybrid parallel kinematic mechanism composed the rigid serial chain and additional auxiliary system. advantage is ability to reconfigure whole fulfillment sufficient prestressing constraint optimization process. Computed Torque Control force distribution algorithm...

The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipulators The main interest has been in inverse kinematics of a six revolute jointed manipulator with arbitrary geometry It has been recently shown that the joints of a general R manipulator can orient themselves in di erent con gurations at most for a given pose of the end e ector However th...

When a force is applied at the endpoint of a manipulator arm, the endpoint will deflect by an amount which depends on the stiffness of the arm and the force applied. There are several sources, for example, arm links, transmissions, reducers, and servo drive systems that produce deflections or vibrations of the industrial manipulator arm. We've investigated the measuring methods of the equivalen...

This paper describes an innovative user interface for high-level control of robot manipulators. The interface uses virtual reality to provide the user with an interactive 3D graphical representation of the manipulator. The interface is designed to give a novice user an intuitive tool to control any kind of mechanical structure (serial, parallel or hybrid) without requiring any programming skill...

This paper presents a comparison of PD controls in joints space for serial manipulators whose dynamics is expressed in terms of two di erent kinds of quasi-velocities. Above mentioned dynamics was described in [1] and [2]. Robot dynamic algorithms in terms of so called normalized and unnormalized quasi-velocities [1] are recursive in nature and consists of two recursions: one starts from a base...

We present the results of a proof of concept implementation of a Hyper-Redundent Reconfigurable Modular Manipulator system (RMMS) in an attempt to validate the Modular Decentralized Control (MDC) technique in a real world environment. Hyper-redundancy enables flexibility in configuration space. Decentralized control of manipulators enables modular construction with its attendant ease of design ...

In industrial field, the need to ensure high levels of production enhancing working precision requires the development of ever more efficient robots. The behaviour of a serial or parallel manipulator can be investigated through its kinetostatic performances [1] such as repeatability, stiffness, maximum force or velocity. They all depend on the kinematics structure of the system, on its configur...