A Mobile manipulator consists of a mobile platform carrying a standard robotic arm. Such robotic system merges the dexterity of the manipulator with the increased workspace capabilities of the mobile platform and thus is particularly suited for field and service robotic applications which require both locomotion and manipulation abilities. A number of papers have been presented to address the i...

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...

Designing autonomous robotic systems able to manipulate deformable objects without human intervention constitutes a challenging area of research. The complexity of interactions between a robot manipulator and a deformable object originates from a wide range of deformation characteristics that have an impact on varying degrees of freedom. Such sophisticated interaction can only take place with t...

This paper deals with the mechatronic design of a novel self-sensing motor-to-joint transmission to be used for the actuation of robotic dexterous manipulators. Backdrivability, mechanical simplicity and efficient flexure joint structures are key concepts that have guided the mechanical design rationale to provide the actuator with force sensing capabilities. Indeed, a self-sensing characterist...

This paper is devoted to the practical tracking control for a class of flexible-joint robotic manipulators driven by DC motors. Different from related literature where constraint neglected and disturbances are excluded or only exist in one subsystem, actuator saturation considered this paper, while present all three subsystems. leads incapability traditional schemes on topic. For this, novel de...

Redundant robotic manipulators, singleor dual-arms, have received increasing use in assembly applications in industry. Correct dimension and use of such redundant robotic manipulators subject to assembly forces experience significant challenges due to the internal motion introduced by the kinematic redundancy. In robotic manipulator design, it is essential to consider the specification of assem...

The design of robotic manipulators is a difficult question because most of the traditional disciplines needed for the design of robots, like kinematics and dynamics, are mostly analytic and have little synthetic power. We first discuss design seen as a generative process and suggest that analogr is a powerful design method. Then a spherical mechanism actuated in parallel with a large workspace ...