Research in Polar Regions is a complex task due to the extremely harsh environment. Mobile robots and robotic manipulators can aid research in these regions by performing tasks with automated precision, reducing the need for human involvement. Because most projects in these regions are labor-intensive, expensive in terms of time and cost, and possibly dangerous, autonomously performing such tas...

Kinematically redundant robotic manipulators are capable of concurrently achieving multiple manipulation goals, including collision avoidance and energy minimization, by resolving kinematic null spaces. Given specifications for manipulator joint motion resolution and accuracy, null spaces can also be resolved to increase end effector motion precision, which is a critical capability for microman...

A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. This paper reviews the well-known methods used to find the inverse kinematics of redundant manipulators. Because redundant manipulators have infinite solutions for their inverse kinematics, therefore the conventional method that was used to calculate the inverse kin...

We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several ap...

In medicine and industry, there is a need for flexible multirobot platforms that allow for independent placement of multiple robotic manipulators. The Computer Aided Medical Procedures research group at Johns Hopkins University has developed a multi-robot surgical platform with two KUKA iiwa robotic manipulators. Each KUKA system is built into a mobile workstation, which makes them easy to tran...

Fault tolerance is increasingly important in modern industrial robotic manipulators, especially those operated in remote and hazardous environment. Faults in robotic manipulator can cause economic and serious damages. So the robots need the ability to detect as well as tolerate failures, allow effectively coping with internal failures and continue performing designated tasks without the need fo...

A robot is generally considered as a physical machine which can move around, operate a mechanical limb and exhibit intelligent and autonomous behavior in public. However, a surgical robot is not like the common robots which have the ability of autonomous action. A surgical robot is a collection of manipulators which just follow the surgeon’s hand motions. The manipulators of a surgical robot re...

Performance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aim of this survey is t...

The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangianassumed modes formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations are organized in a form similar to rigid manipulator equations. ...