In this article, an experimental calibration of the constraining linkage of a wire-actuated parallel robot is discussed. The experimental test bed includes a prototyped 4 degrees of freedom wire-actuated parallel manipulator and an optical tracking system. The parallel manipulator employs hybrid actuation ofjoints and wires and includes a rigid branch to constrain the motion of its mobile platf...

A recently developed spatial operator algebra for manipulator modeling, control and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The e ect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be e ciently obt...

An improved transfer matrix method for multi-rigid-body systems is presented based on the structural characteristics of the manipulator and the relations between motion transfer and force transfer. Thus, a new model applicable to serial robots is obtained by using of discrete time transfer matrix method. Based on the improved method, a unified model for a manipulator with n DOF is derived. This...

 Abstract— The Stewart platform is one example of a parallel manipulator with high force to weight ratio and fine positioning accuracy far exceeding those of a conventional serial-link arm. It is basically a closed-link type robot manipulator having 6 degrees of freedom. In this paper the implementation of an adaptive control scheme based on fuzzy logic theory is used to control the motion of ...

In robot-assisted manufacturing or assembly, following a predefined path became critical aspect. general, inverse kinematics offers the solution to control movement of manipulator while trajectory. The main problem with approach is that are computationally complex. For redundant manipulator, this complexity further increased. Instead employing kinematics, can be reduced by using heuristic algor...

The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using...

The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. Both forward and inverse kinematics solutions for the TR 4000 educational robot arm are presented. The closed form solution of the inverse kinematics problem is of utmost importance in controlling robotic manipulator. In this paper, a closed form solution to the inverse kinematics...

Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy to use alg...

Abstract: This paper describes a new 2DOF planar manipulator (PM) using coupled kinematics to manage the singularities. It is designed in order to overcome the singularity configuration of planar manipulators. Manipulators are composed of five rigid links, five revolute joints and two actuators each actuating two of input links coordinated fashion, what we term coupled kinematics. Coupled kinem...