Task and Motion Planning for a 7-DOF serial robot containing only revolute joints needs fast numerically stable inverse kinematics solution. The analytical methods are real-time, but they dependent. Although the numerical based on differential can solve problem (IKP) of 7R robots with arbitrary geometric parameters, their stability is insufficient. Moreover, it time-consuming them to converge s...

At present, the research objects of rigid-body guidance synthesis are mostly limited to pure linkages, and there is little on combined mechanisms gears or cams linkages. In order expand improve kinematic mapping theory, this paper proposes a method noncircular gear-five-bar mechanisms. A mechanism can be regarded as combination 2R (two revolute joints) open chain, 3R (three chain pair gears. Fi...

In this paper, we propose a solution to the motion control problem of a 2-link revolute manipulator arm. We require the end-effector of the arm to move safely to its designated target in a priori known workspace cluttered with fixed circular obstacles of arbitrary position and sizes. Firstly a unique velocity algorithm is used to move the end-effector to its target. Secondly, for obstacle avoid...

This article presents a direct kinematic analysis of 3-RS parallel mechanisms. A 3-RS parallel mechanism consists of a ®xed base and a moving platform connected by three serial chains, with each serial chain containing one passive revolute joint and one passive spherical joint. A variety of 3-RS mechanisms have been proposed in the literature, to overcome the disadvantages of small workspace ch...

In this paper, a robust controller is developed for mobile manipulator (MM) to track reference position/force trajectories. Nonholonomic and holonomic constraints are considered the platform manipulator, respectively. Additionally, control design considers uncertainties in parameters of dynamics with bounded time varying additive disturbance (unmodelled effects, external disturbances). A Lyapun...

Measurements of joint angles during motion analysis are subject to error caused by kinematic crosstalk, that is, one joint rotation (e. g., flexion) being interpreted as another (e.g., abduction). Kinematic crosstalk results from the chosen joint coordinate system being misaligned with the axes about which rotations are assumed to occur. The aim of this paper is to demonstrate that measurement ...

This paper proposes a novel modelling approach for heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered structure contains revolute segment rigid links by passive joint and actuated linear hydraulic actuator, thus forming closed kinematic loop. In addition, prismatic segments, consisting of joints driven actuators, also are considered. Expressions actuat...

The field of wearable devices and exoskeletons for rehabilitation assistance is one the main fields where variable stiffness actuators (VSAs) are continuously incorporated. This due to need such adapt erratic environments mimic human motions. Recently, a passive revolute joint design with controllable was proposed by authors. However, previous only introduced as proof concept, no further invest...

Abstract The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching ...