Despite the voluminous publications on robot dynamics and control, the literature to date is based solely on the serial link manipulators. Little attention has been given to the alternative manipulator design based on the concept of in-parallel actuated mechanism, which is characterized by its excellent rigidity, high strength-to-moving-weight ratio, and relatively simple inverse kinematics. Th...

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 kinematic calibration is a procedure to improve the manipulator accuracy without mechanical means by acting on the manipulator controller. Although manipulators are composed by accurate mechanical components, the precision of their motion is affected by many sources of error (Mooring et al, 1991). The final position accuracy is mainly influenced by: kinematic inaccuracy (due to manufacturin...

Designing a robust controller is very important in the control of outdoor unmanned aerial vehicles. This paper presents design procedures and implementation super-twisting sliding mode controller, which nonlinear controller. The applied to an over-actuated quadrotor manipulator with four tiltable rotors. A serial two links mounted on bottom quadrotor. possesses property decoupling its position ...

An improved transfer matrix method for multi-rigid-body systems is presented based on the structural characteristics of the manipulator and the relations between motion transfer and force transfer. Thus, a new model applicable to serial robots is obtained by using of discrete time transfer matrix method. Based on the improved method, a unified model for a manipulator with n DOF is derived. This...

 Abstract— The Stewart platform is one example of a parallel manipulator with high force to weight ratio and fine positioning accuracy far exceeding those of a conventional serial-link arm. It is basically a closed-link type robot manipulator having 6 degrees of freedom. In this paper the implementation of an adaptive control scheme based on fuzzy logic theory is used to control the motion of ...

This study presents a novel dynamic modelling of a rigid serial manipulator using a compact formula of inertia tensor to simplify dynamic modelling and mathematical transformations. The matrix transformation is used appropriately as a powerful tool for this purpose. The kinetic energy, the potential energy and the inertia matrix of manipulator all are formulated in Denavit-Hartenberg frames (D-...

The Inverse Kinematics (IK) problem is concerned with finding robot control parameters to bring the into a desired position under kinematics and joint limit constraints. We present globally optimal solution IK for general serial 7DOF manipulator revolute joints polynomial objective function. show that kinematic constraints due rotations can be all generated by second-degree polynomials. This an...

The paper presents a serial architecture of an actuated manipulator which uses an ultrasonic motor. The serial architecture allows to modify the kinetic relationship between user’s input and a tool. The design of the device is presented. A load, which exhibits fine details, is used in order to show how a zooming effect of its haptic rendering can be achieved with the haptic magnifier. Finally, ...