Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gröbner based elimination is ...

concept of 'manipulability' is particularly important to characterize the ability of a serial kinematic chain – artificial manipulator or natural limb – to move quickly its end-effector in any direction of its operational space in response to given joint velocities. Yoshikawa's manipulability definition has shown its benefit for robotics. According to him the robot manipulability can be measure...

Abstract The obstacles avoidance of manipulator is a hot issue in the field robot control. Artificial Potential Field Method (APFM) widely used path planning method, which has prominent advantages. However, APFM also some shortcomings, include inefficiency avoiding close to target or dynamic obstacles. In view shortcomings APFM, Reinforcement Learning (RL) only needs an automatic learning model...

Parallel manipulators are an interesting alternative to serial robots given the important mechanical and kinematic advantages offered. Nevertheless, they often present more complex and smaller workspaces with internal singularities (Altuzarra et al., 2004; Gosselin & Angeles, 1990). Thus, the workspace size, shape and quality are considered some of the main design criteria of these robots (Merl...

This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...

Abstract. This paper proposes a spring efficiency assessment of statically spring-balanced planar serial manipulator. The admissible configurations for the static balancing manipulators without auxiliary links have been determined in past. Gravity is balanced by configuration systematically; however, also contains counter-effects between springs. Conceptually, with fewer springs, there less bur...

The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. Therefore, researchers have turned combining both mechanisms, sharing advantage from vice versa. This paper proposes a new configuration design serial-parallel hybrid (SPHM) using industrial robotic KUKA Kr6 R900 3-DOF spherical mechanism. has six degree...

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...

231  Abstract—The kinematic of serial manipulators comprises the study of the relations between joint variables and Cartesian variables. We distinguish two problems, commonly referred to as the direct and inverse kinematic problems. The former reduces matrix multiplications, and poses no major problem. The inverse kinematic problems, however, is more challenging, for it involves intensive vari...