This article proposes modeling, simulation and kinematic and workspace analysis of a spatial cable suspended robot as incompletely Restrained Positioning Mechanism (IRPM). These types of robots have six cables equal to the number of degrees of freedom. After modeling, the kinds of workspace are defined then an statically reachable combined workspace for different geometric structures of fixed a...

Conventional wearable robots comprised of rigid joints and links are very limited in providing proper assistance for people in need on a daily basis. Commonly used actuators and sensors make it challenging for researchers and engineers to design compact and lightweight wearable systems which would be truly mobile and non-restrictive for the wearer. In our work, we are focused on developing ligh...

This report introduces R&D results of aerial robot systems development for urban search and rescue (USAR). Different types of aerial robot systems have been developed and they are systematically combined so as to offer continuous information gathering in a suffered area. Autonomous helicopters are collecting disaster situation data from the sky for USAR first operation planning. Then, a blimp-t...

We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towedcable systems. The novelty of this approach lies in the combination of results deriving from the static analysis of cable-driven manipulators with a cost-based motion-planning algorithm to solve manipulation queries. Such a combination of methods is able to produce feasible paths that do not appr...

In this paper we study the problem of manipulating and transporting multiple objects on the plane using a cable attached at each end to a mobile robot. This problem is motivated by the use of boats with booms in skimming operations for cleaning oil spills or removing debris on the surface of the water. The goal in this paper is to automate the task of separating the objects of interest from a c...

In cable driven parallel robots (CDPRs), a single malfunction usually induces complete failure of the entire robot. However, lost static workspace (due to failure) can often be recovered through reconfiguration attachment points on frame. This capability is introduced by adding kinematic redundancies robot in form moving linear sliders that are manipulated real-time redundancy resolution contro...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...