Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Se...

Various control schemes for a single flexible robot arm are considered in this paper. They require a limited amount of on-line computations. All trials are performed on the physical process and embody a conclusive, although partial, comparison for this kind of single axis robot. They are representative of some major applied research directions which captured the attention of many researchers th...

Most manipulation tasks can be decomposed into sequences of sensorimotor primitives. These primitives often end with characteristic sensory events, e.g., making or breaking contact, which indicate when the sensorimotor goal has been reached. In this manner, the robot can monitor the tactile signals to determine when to switch between primitives. In this work, we present a framework for automati...

The SC method is applied to a seven-DOF manipulator arm with a spherical wrist and zero joint offsets, such as the Mitsubishi Heavy Industries PA-10 arm. We obtain two vector fields for driving the positioning subchain and one vector field for the wrist, in analytical form. The former two vector fields are used to realize decoupled motion control of the end-effector and the arm plane, respectiv...

In the paper the dynamic properties of the internal motion of redundant manipulators are considered. The motion is decoupled into the end-effector motion and the internal motion. Next, the dynamic model of a redundant manipulator is derived. A special attention is given to the inertial properties of the system in the space where internal motion is taking place; we define a null space effective ...

Purpose: This research is aimed at developing a surgical robot for spinal fusion and its control framework that provides higher operation accuracy, greater flexibility of robot position control, and improved ergonomics. Design/Methodology/Approach: A human-guided robot for the spinal fusion surgery has been developed with a dexterous end-effector that is capable of high-speed drilling for corti...

In this paper, we present a learning based method for the definition of the ARPH mobile platform configuration during grasping. Based on the principle of semi autonomy, the proposed scheme uses information provided by the user to help him(her) during the tedious task of manually coordinating the robot motions. From a crude posture provided by the user a reinforcement scheme is used to optimize ...

This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface, where a robot can approach them from above and perform pickand-place operations to rearrange them. The paper considers both the case where the start and goal o...

In this paper, we present a study on modular end effector systems. As the available services of robots grow, robots need to carry out different tasks for various purposes. To carry out these tasks in different environments, flexibility and reusability of the robot system are the most important factors. Therefore, in this study we consider the three following conditions. First, the size of the e...

Euler parameters constitute a well-known nonminimal singularity-free representation of rigid body orientation. This paper is aimed at illustrating the role of Euler parameters in robot control; namely, the kinematic control, dynamic control and impedance control problems are surveyed in a unifying perspective, where robot’s end-effector orientation displacements are described in terms of Euler ...