Abstract The development of a planar manipulator with flexure joints and redundant actuation has been considered before, showing that the redundancy can be exploited to increase support stiffness reduce static actuator loads. In this previous design manipulator’s workspace defined encompass all kinematically accessible end effector positions. current paper we reconsider philosophy. It will show...

Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on position or pose one more end-effectors. For robots with redundant degrees freedom, there often an infinite, nonconvex set solutions. The IK further complicated when collision avoidance are imposed by obstacles in workspace. In general, closed-form expressions yielding feasible do not exist,...

This paper proposes a solution to the motion planning and control problem of a point-mass robot which is required to move safely to a designated target in a priori known workspace cluttered with fixed elliptical obstacles of arbitrary position and sizes. A tailored and unique algorithm for target convergence and obstacle avoidance is proposed that will work for any number of fixed obstacles. Th...

This paper presents a design and analysis approach for micropositioning stage based on 3-RPR parallel kinematic linkage. The dimensions of the stage are first obtained and static, dynamic characteristics of the stage are predicted. The objective here is to maximize the workspace (for ranges of both position and orientation) and minimize the singularities inherent in the system. After arriving t...

BACKGROUND The concept of reachable workspace is closely tied to upper limb joint range of motion and functional capability. Currently, no practical and cost-effective methods are available in clinical and research settings to provide arm-function evaluation using an individual's three-dimensional (3D) reachable workspace. A method to intuitively display and effectively analyze reachable worksp...

INTRODUCTION Current neuroendoscopic instruments lack the required size, accuracy, dexterity, and reachability to perform complex intraventricular procedures (i.e. endoscopic third ventriculostomy) [1-2]. Surgical robots offer a potential solution, however the unique and critically constrained workspace within the ventricle system poses major challenges. Concentric tube robots consist of telesc...

In this position paper we attempt to derive an architecture and mechanism for perceptual memory and learning for software agents and robots from what is known, or believed, about the same faculties in human and other animal cognition. Based on that of the IDA model of Global Workspace Theory, a conceptual and computational model of cognition, this architecture, together with its mechanisms, off...

This paper provides a new approach to the multi-robot path planning problem predicting the position of a dynamic obstacle which undergoes linear motion in the given workspace changing its direction at regular intervals of time. The prediction is done in order to avoid collision of the robots with the dynamic obstacle. First the work is done in simulation environment then the entire work has bee...

Two Visual Servoing controls respectively of the Position Based and Image Based type have been developed to govern a parallel translating manipulator with an eye-in-hand configuration. The robot must be able to reach and grasp a special target randomly positioned in the workspace; the control must be adaptive to compensate motions of the target in the 3D space. The implemented trajectory planni...

In this paper, the control of the force due to the interaction with the environment of a robotic manipulator with relevant and adjustable joint stiffness is addressed. It is assumed that the interaction force is not directly measurable and a controller able to estimate this force is proposed. Also the problem of controlling simultaneously both the position and the stiffness trajectory in the ro...