Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick control, or more intuitive interfaces which map directly the user arm motions into one robot arm's motions. These approaches have limits when execution of give...

In order to overcome a large variety of run-time constraints, robots are being designed to be more resourceful by incorporating more sensory and motor options for any given task. The added flexibility provides a basis for dexterous problem solving, but challenges planners by increasing the complexity of search. Moreover, the cost of functionally equivalent options can vary dramatically. In the ...

Unlike pick-and-place manipulations, ne motions strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties. Performing assembly operations with a dexterous hand make high demands on the controller of the robot gripper. Pre-grasping operations are highly dependent on a good position/velocity control. The control strategies for position and velocity...

in the research, six degrees of freedom hexapod parallel machine tool is studied and investigated. jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on jacobian matrix. geometric parameters of cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, a...

BACKGROUND If the model of the human hand is created with accuracy by respecting the type of motion provided by each articulation and the dimensions of articulated bones, it can function as the real organ providing the same motions. Unfortunately, the human hand is hard to model due to its kinematical chains submitted to motion constraints. On the other hand, if an application does not impose a...