A new approach of redundancy resolution for dexterous robots intended for the operations in clustered areas is proposed. These robots are modeled by series kinematic chains with a high number of degrees of freedom and are described by underdetermined systems of kinematic equations. The inverse problem has therefore an infinite number of solutions. The basic idea of the proposed approach is to f...

Increased levels of robotic system autonomy will enable scientific exploration in previously unreachable destinations. Dexterous manipulator systems can be coupled with machine vision systems to increase perceptive capabilities and provide greater opportunities for scientific return through environmental interaction. Reliable autonomous vision systems are often specific to a certain task and qu...

For a grasping task planner, the pre-planning of reachable tip pose in manipulator’s workspace is important. On this basis, for seven-degree-of-freedom (7-DOF) redundant manipulator, it very meaningful to study how give full play its characteristics achieve more dexterous grasping. In paper, through improved shape primitive method, reachability spheres 7-DOF manipulator studied were accurately ...

Natural orifice endoscopic surgery can enable incisionless approaches, but a major challenge is the lack of small and dexterous instrumentation. Surgical robots have the potential to meet this need yet often disrupt the clinical workflow. Hand-held robots that combine thin manipulators and endoscopes have the potential to address this by integrating seamlessly into the clinical workflow and enh...

One of the most important features of the next generation of robots is the mobility and the ability to work in an unstructured environment. Conventional manipulator arms have bounded workspace and are thus appropriate only for some limited tasks. Hence, they need additional devices such as conveyor belts and handling devices in order to perform a task requiring large workspace. A new promising ...

We report on our efforts to develop a sequential robot controller composition technique in the context of dexterous “batting” maneuvers. A robot with a flat paddle is required to strike repeatedly at a thrown ball until the ball is brought to rest on the paddle at a specified location. The robot’s reachable workspace is blocked by an obstacle that disconnects the free space formed when the ball...

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

This paper for the ICRA 2000 Symposium on Dexterous Manipulation presents an overview of research in dexterous manipulation. We rst de ne robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used to formulate the dexterous manipulation problem. Dexterous motion planning is described, which includes grasp plan...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...