This thesis considers the control of a heavy-lift serial manipulator operating on the deck of a large ocean vessel. This application presents a unique challenge for highprecision control because the system must contend with both high levels of joint friction and oscillatory motions in the manipulator's base. Due to the uncontrolled outdoor environment, the behavior of these disturbances in the ...

In impedance control for force tracking, it is well known that the reference trajectory of the robot is calculated from known environmental stiffness. The authors present a simple technique for determining the reference trajectory under the condition that the environment is unknown. The technique is developed based on the replacement of the unknown stiffness with a function of the measured forc...

We present a walk-through tutorial on the modeling of a complex robotic system, like the newly developed desktop mobile manipulator youBot developed by KUKA[5, 4]. The tutorial shows the design of models for typical robotic elements, done in a reusable object-oriented style. We employ an energy-based approach for modeling and its bondgraph notation to ensure encapsulation of functionality, exte...

This paper studies the workspace of a six-DC)F parallel manipulator of three-PPSR (prismatic-prismaticspheric-revolute) type. It is well recognized that the most significant drawback of parallel manipulators is their limited workspace. To develop new parallel mechanisms with a larger workspace is of interest to additional applications. The mechanism of the three-PPSR manipulator and its variati...

In classical Cartesian space position control, KD, the end-effector follows set-point trajectory with a stiffness expressed in directions of external coordinates through matrix, K, and damping proportional to first-order derivatives errors D. This work deals fractional-order extension KDHD, which is characterized by an additional term, half-order second HD. The proposed control scheme applied S...

in this paper a performance analysis is presented for a cable-suspended parallel manipulator. experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. the load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

Purpose In this paper the design and implementation of an embedded control system, using DSCs (Digital Signal Controller) devices of dsPIC type, applied on a four-DOF (Degrees Of Freedom) model OWI-535 robotic manipulator is presented. Design/Methodology/Approach The mathematical model of manipulator is elaborated obtaining joint trajectories to achieve the tracking of a test Cartesian trajecto...

Controlling the pose of a manipulator involves finding the correct configuration of the robot’s elements to move the end effector to a desired position and orientation. In order to find the geometric relationships between the elements of a robot manipulator, it is necessary to define the kinematics of the robot. We present a synthesis of the kinematical model of the pose for this type of robot ...

This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...

The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, new method related to the master-slave approach introduced, master replaced by digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables rendering any programmed robot with serial manipulator on general-purpose interface. results s...