Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

A parallel manipulator is naturally associated with a set of constraint functions defined by its closure constraints. The differential forms arising from these constraint functions completely characterize the geometric properties of the manipulator. In this paper, using the language of differential forms, we provide a thorough geometric study on the various types of singularities of a parallel ...

The bolt joint is the key component connecting rigid moving base body and flexible manipulator. dynamic characteristics of manipulator under elastic constraint are analyzed, action mechanism on frequency vibration mode revealed. Considering effects line torsion constraint, model established. Based principle virtual work, boundary constraints end free established, analytical equation expression ...

There is a need for highly redundant manipulators to work in complex, cluttered environments. We explore kinematics and path planning for highly redundant manipulators by means of a continuous manipulator model, which captures the macroscopic shape of highly redundant manipulators. A path for the continuous manipulator model can be found by nding a smooth path for its end-e ector under a maximu...

This paper describes the hardwareand software-implementation of a touch-sensitive device on the manipulator arm of our anthropomorphic robot . This so-called is used to control the configuration of the manipulator while the robot is grasping for objects. By exploiting redundant degrees of freedom, this operator-induced movement constraint can be accounted for without changing the configuration ...

There is a need for highly redundant manipulators to work in complex, cluttered environments. We explore kinematics and path planning for highly redundant manipulators by means of a continuous manipulator model, which captures the macroscopic shape of highly redundant manipulators. A path for the continuous manipulator model can be found by nding a smooth path for its end-e ector under a maximu...

This paper describes an adaptive hybrid visual servoing/force controller to realize visual servoing while the manipulator exerts contract force on a surface. The proposed controller has a hybrid structure of visual servoing control and force control. Because it has an on-line estimator for the parameters of the cameramanipulator system and the one for the parameters of the unknown constraint su...

A hyper-redundant manipulator has the advantage that it can be used in constraint space; however the control of hyper-redundant manipulator is difficult. This paper presents a concept of virtual link based two degrees of freedom (DOF) controller. With the proposed controller, manipulator of any number of links can be reduced to either a 2-link virtual manipulator or one real and one virtual lin...

Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory by real system may differ greatly from...

Exploiting unique features of nonholonomic systems, innovative and advantageous mechanisms can be designed. We have proposed a nonholonomic manipulator which is a controllable n joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was developed. There are many possible alternatives for d...