This paper addresses kinematic control of a redundant space manipulator mounted on a freeoating spacecraft. Redundancy of the system with respect to the number of task variables for spacecraft attitude and manipulator end-e ector pose is considered. Also, the problem of both spacecraft attitude and end-e ector orientation representation is tackled. A nonminimal singularity-free representation o...

For robot manipulators, an OLP system provides a detailed 3D simulation test-bed for visualization and analysis of various what-if scenarios. This paper discusses the prototype OLP system developed at the Informatics Complex for a six degrees of freedom cylindrical serial manipulator. Paradigms from classical robotics literature have been used to develop models of kinematics and to plan manipul...

The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of t...

1 IRCCyN: UMR CNRS 6596, Ecole Centrale de Nantes, Université de Nantes, Ecole des Mines de Nantes Abstract— Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. This pr...

It is shown that smooth spatial paths for non-redundant serial robots can always be smoothly reparameterized in the vicinity of kinematic singularities with finite root multiplicity using a Puiseux series (i.e., fractional power series). This reparameterization, based on the algebraic structure of the manipulator kinematics, is formed using the -th root of the distance of the path parameter to ...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

Binary manipulators are powered by actuators which have only two stable states. Therefore, they can reach only a discrete (but possibly large) number of locations. Compared to a manipulator built with continuous actuators, a binary manipulator provides reasonable performance, and is relatively inexpensive (up to an order of magnitude cheaper). The number of states of a binary manipulator grows ...

This paper presents a kinematic analysis of a parallel manipulator we have been developing for the probing task application that requires high bandwidth, active compliance, and high precision. Based on the concept of macro/micro manipulators, the parallel manipulator serves as a wrist of a macro manipulator. The developed manipulator is a class of in-parallel platforms with 3 PRPS( prismatic-re...

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that th...

The inverse kinematics problem in robotics requires the determination of the joint angles for a desired position of the end-effector. The most important problem in robot kinematics and control is, finding the solution of Inverse Kinematics. If the joint structure of the manipulator is more complex the traditional method such as geometric, iterative and algebraic are inadequate. As the complexit...