In this paper, we develop a fully adaptive decentralized controller of robot manipulators for trajectory tracking. With high-order and adaptive variable-structure compensations, the proposed scheme makes both position and velocity tracking errors of robot manipulators globally converge to zero asymptotically while allowing all signals in closed-loop systems to be bounded, even without any prior...

This paper presents a new approach to generate the workspace of planar redundant manipulators based on the workspace density of a single link. The workspace density of planar serial redundant manipulators can be computed efficiently by using the concept of the Fourier transform for the group of rigid-body motions of the plane and the convolution theorem. For manipulators using discrete actuatio...

To increase the mobility of on-orbit robotic systems, Space Free-Flying Robots (SFFR) in which one or more manipulators are mounted on a thruster-equipped base, have been proposed. Unlike fixedbased manipulators, the robotic arms of SFFR are dynamically coupled with each other and the freeflying-base, hence the control problem becomes more challenging. In this paper, the Multiple Impedance Cont...

The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or high speeds and accelerations are required [1]. However, one of its main drawbacks is a relatively small workspace compared to the one of serial manipulators. This is due mainly to the existence of...

In this paper, the relationships between the kinematics design and tracking performance of the model-based adaptive control are studied. For this purpose, the position tracking error convergences of three serial manipulators with joint types of RR, RP and PP are considered. The physical parameters and desired trajectories of these manipulators are assumed same for the proper comparison. Since t...

While today’s general purpose manipulators contain six degrees of freedom, effective reduction in degrees of freedom occurs from singularity regions and from workspace obstacles. It is argued that the future general purpose manipulators will contain seven degrees of freedom, and that one particular kinematic design is superior to other possible 7 degree of freedom kinematic designs. Considerati...

The task definition for mobile manipulators is presented. Then, a generic formulation of global instantaneous kinematics is proposed for wheeled mobile manipulators. It is compared with the classical kinematic modelling of robotic arms. In particular, it is shown that many tools of classical manipulation can be re-used in this new framework. Finally, simulation results and experiments are prese...

Abstract. Several robotic system applications require manipulators to carry heavy payloads while operating from moving vehicles. These manipulators are mounted on moving/compliant bases, introducing additional degrees of freedom that are not actuated, increasing the complexity of the dynamic modeling and control. In this paper, a control strategy to improve the performance of mobile robotic man...

This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the ma...