An invention of a new and novel space robotic manipulator is described. By using a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while being very lightweight compared to conventional manipulators. The manipulator is also ...

Teleoperation based space systems have received much attention in the past years.This paper reports the construction and the remote control of a nonholonomic robotic system. The system consists of a three-wheeled mobile platform to keep the robot stable and a 6-DOF articulate manipulator on top of the platform. First, we explain how its design and work, then the kinematic model of the robotic p...

Two different electro-biological signal based Interfaces for impaired people were developed: EMG and EEG based. Such interfaces present like main characteristics relatively simple acquisition and processing systems, which need of few hardware and software resources, so that they are computational and financial low cost solutions. Both interfaces have been applied to robotic systems (emulating a...

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 details the construction of a Robotic Arm or manipulator with SCARA configuration and having DC Motors at its joints. There are two revolute joints present in the manipulator arm which helps the manipulator to be in RRP configuration. The DC Motors are given a pulse for a definite duration according to which they rotate by a certain angle.

Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...

In this paper, a novel adaptive fuzzy sliding mode control method is proposed for the robust tracking control of robotic manipulators. The proposed controller possesses the advantages of adaptive control, fuzzy control, and sliding mode control. First, system stability and robustness are guaranteed based on the sliding mode control. Further, fuzzy rules are developed incorporating with adaptati...

A Mobile manipulator consists of a mobile platform carrying a standard robotic arm. Such robotic system merges the dexterity of the manipulator with the increased workspace capabilities of the mobile platform and thus is particularly suited for field and service robotic applications which require both locomotion and manipulation abilities. A number of papers have been presented to address the i...

Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The d...