The study of acceleration capability is concerned with the responsiveness of a manipulator to controller commands. In this paper we present a general model for the analysis of end-eeector linear and angular accelerations that accounts for the velocity eeects. The separate treatment of linear and angular motion directly addresses the inhomogeneities of end-eeector motions, avoiding the use of in...

Abstract: This paper presents a performance metric for the manipulability of constrained serial manipulators. The manipulability measure and manipulability ellipsoid are found from the manipulability Jacobian, which is easily found for serial manipulators as the standard Jacobian matrix, or for parallel manipulators as the Jacobian that gives the mapping from the active joint velocities to the ...

Parallel manipulators have the advantages of high stiffness and low inertia compared to serial mechanisms. Based on the Steward-Gough platform architecture, a lot of 6-DOF mechanical devices have been proposed. The 6-DOF parallel manipulators suffer from a small workspace, complex mechanical design, and difficult motion generation and control due to their complex kinematic analysis. To overcome...

Inverse kinematics is a fundamental problem in manipulator robotics: set of joint angles must be calculated so that the robot arm can manipulated to corresponding desired end effector position and orientation (also known as “pose”). Traditional solution techniques include analytical solvers, which provide closed-form expressions for positions functions end-effector pose. When inverse solvers ar...

This article presents a new planar translational cable-direct-driven robot 1 (CDDR) with actuation redundancy and supported against loading normal to the 2 motion plane with a passive planar two-degree-of-freedom SCARA-type (Selective 3 Compliance Assembly Robot Arm) serial manipulator. This allows the robot to 4 resist cable sag without being supported on the motion plane. The proposed robot 5...

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment of which scooping buckets are attached around a rotating disk, kinematic redundancy occurs in aktermining joint variables. Link coordinates are introduced following the Denavit-Hatenberg representation. For a given excavation...

Aplicação de Técnicas de Controle Preditivo em Robô Paralelo Este trabalho apresenta a aplicação de técnicas de controle preditivo para rastreamento de trajetórias de um robô paralelo. A estratégia de controle preditivo generalizado (GPC), que considera o modelo dinâmico linearizado, é usada para melhorar a precisão de rastreamento das trajetórias. O controlador preditivo generalizado é robusti...