The paper presents a design of six axis manipulator. consists specially designed solutions for housing, planetary gearboxes and electronics. manipulator is controlled by supervisory control system. use series measuring elements allows to track the current position each this create cascade loop with velocity acceleration feed-forward. implemented algorithm together microcontroller software tune ...

The use of aerial manipulators for the inspection and maintenance power grid requires safe interaction robot with high voltage lines. In order to identify possible faults or malfunctions during approaching phases, this paper presents experimental results in a real 15 kV line, considering four different configurations manipulator: 1) aluminum tube attached landing gear, 2) robotic arm multi-roto...

This paper addresses the problem of fault diagnosis in a robotic manipulator designed for human interaction. Faults in the external force sensor are addressed with a constant or slowly time-varying profile. A model-based strategy is considered that takes into account uncertainty in the mathematical representation, where a proportional-integral (PI) observer is in charge of estimating the fault ...

This paper describes the process of bonding a MEMS (Micro-ElectroMechanical System) microgripper to the distal end of a robotic manipulator arm using a molten solder bonding technique. This task is part of ongoing work which involves the development of a general microassembly workstation. The goal of this workstation is to construct 3-D microstructures from MEMS subcomponents. The microgrippers...

Athletics are a quintessential and universal expression of humanity. From French monks who in the $12{\text{th}}$ century invented jeu de paume , precursor to modern lawn tennis, ba...

In order to ensure canopy area coverage with the most compact mechanical configuration possible, this paper proposes a optimization design method of dual-manipulator meet research and development needs an apple-efficient harvesting robot using typical tree shape “high spindle” in China as object. A Cartesian coordinate two groups vertically synchronous operations three-degree range motion based...

Parallel robotic manipulators have a complicated dynamic model due to the presence of multi-closedloop chains and singularities. Therefore, the control of them is a challenging and difficult task. In this paper, a novel adaptive tracking controller is proposed for parallel robotic manipulators based on fully tuned radial basis function networks (RBFNs). For developing the controller, a dynamic ...