This paper presents modeling, simulation and control of a novel teleoperated mechanism, where two nonisomorphic manipulators are used in one integrated system, with the purpose of usage in Oil and Gas industry in the future. Overall integration of the teleoperated system has been done in the master-slave configuration, where a stuart type 6-DOF parallel manipulator is used as a master robot and...

the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...

This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...

The dynamics and control of flexible link manipulators (FLMs) are increasing in industrial robotics research. In which the problem inverse is a that has been studied little no general solution. this paper, an approximation method presented to calculate reverse serial with rigid-flexible links. linearization motion equations for translation rotation two-link manipulator (manipulator T-R) address...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-Arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming the forward kinematics are known and that it is possible to solve for the remaining j...

In this paper, the authors describe a novel technique based on continuous genetic algorithms (CGAs) to solve the path generation problem for robot manipulators. We consider the following scenario: given the desired Cartesian path of the end-effector of the manipulator in a free-of-obstacles workspace, off-line smooth geometric paths in the joint space of the manipulator are obtained. The invers...

S. Ali A. Moosavian and A. Pourreza 2 Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering, K. N. Toosi Univ. of Technology Tehran, Iran, P.O. Box 19395-1999, Fax: (+98) 21 8867-4748 Corresponding Author E-mail: [email protected] Abstract In this study, kinematics and dynamics of a compounded serial-parallel wheeled mobile robot is elaborated. The newl...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

An important step during the design of a parallel manipulator is the determination of its workspace. For a 6 d.o.f. parallel manipulator workspace limitations are due to the bounded range of their linear actuators, mechanical limits on their passive joints and links interference. The computation of the workspace of a parallel manipulator is far more complex than for serial link manipulator as i...