This paper presents a cooperative manipulation method for dual-arm underwater vehicle-manipulator system (UVMS). The objective task is handle valve turning, which common task. We propose that includes the concept of grasping fixed structure such as pipeline. While and valve, entire can be considered parallel manipulator. Because kinematic properties system, load turning distributed between vehi...

This is the second and final article on tutorial manipulator differential kinematics. In Part 1, we described a method of modelling kinematics using elementary transform sequence (ETS), before formulating forward Jacobian. We then some basic applications Jacobian including resolved-rate motion control (RRMC), inverse (IK), performance measures. this article, formulate second-order kinematics, l...

In industrial field, the need to ensure high levels of production enhancing working precision requires the development of ever more efficient robots. The behaviour of a serial or parallel manipulator can be investigated through its kinetostatic performances [1] such as repeatability, stiffness, maximum force or velocity. They all depend on the kinematics structure of the system, on its configur...

Robot frame compliance has a large negative effect on the global accuracy of the system when large external forces/torques are exerted. This phenomenon is particularly problematic in applications where the robot is required to achieve ultra-high (micron level) accuracy under very large external loads, e.g. in biomechanical testing and high precision machining. To ensure the positioning accuracy...

We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving feedback to the human body. For this purpose we modify the well-known octahedral manipulator in a way that it has one degree of kinematical redundancy; name...

By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is reformulated as a quadratic program (QP) with equality and bound constraints, which is then solve...