The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-inhole task about 10μm clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for...

Abstract. Cable-driven parallel robots are a type of manipulators where rigid links replaced by actuated cables. Although in many cases dynamic models that neglect the cables mass and elasticity employed to simulate robot behavior test control approach be used, there several situations which their effect cannot disregarded, especially when large span cable density generates important sagging. T...

this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

Theoretical control algorithms are developed and an experimental system is described for 6-dof kinesthetic force/moment feedback to a human operator from a remote system. The remote system is a common six-axis slave manipulator with a force/torque sensor, while the haptic interface is a unique, cable-driven, seven-axis, force/moment-reflecting exoskeleton. The exoskeleton is used for input when...

In this paper, different approaches are presented to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using mainly numeri...

Abstract This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging series several tensegrity joints, called “modules.” A comparative of modules revealed that the X module, contrast to based on pivots, allows one increase joint by increasing input forces like d...

International Journal of Robotics Research, v 19, n 11, p. 1066-1074 Mobile manipulator systems hold promise in many industrial and service applications including assembly, inspection, and work in hazardous environments. The integration of a manipulator and a mobile robot base places special demands on the vehicle’s drive system. For smooth accurate motion and coordination with an on-board mani...