High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a settling time design method and a parame...

This paper shows mechanisms for artificial finger based on a planetary gear system (PGS). Using the PGS as a transmitter provides an under-actuated system for driving three joints of a finger with back-drivability that is crucial characteristics for fingers as an end-effector when it interacts with external environment. This paper also shows the artificial finger employed with the originally de...

In this paper, a method is proposed to analytically determine the "uncertain" configurations of a general 6R manipulator. A configuration is called uncertain if in that configuration the manipulator’s joint freedom is greater than its end-effector freedom. In uncertain configurations, the manipulator acts like a redundant system where the endeffector remains in the same pose even if one (or mor...

Cardiac catheters allow physicians to access the inside of the heart and perform therapeutic interventions without stopping the heart or opening the chest. However, conventional manual and actuated cardiac catheters are currently unable to precisely track and manipulate the intracardiac tissue structures because of the fast tissue motion and potential for applying damaging forces. This paper ad...

Zusammenfassung In diesem Artikel wird eine fluidisch angetriebene Roboterhand vorgestellt, deren flexible Aktuatoren adaptives Greifen sowie die weiche Handhabung von Gegenständen ermöglichen. Der mechanische Aufbau vereinigt die anthropomorphe Erscheinung mit einer präzisen DreiPunktKinematik eines Greifers. Es werden Designmerkmale, das Antriebskonzept, die Steuerungskomponenten, technische ...

This paper proposes a novel robotic gripper used for assembly tasks that can adaptively grasp objects with different shapes. The proposed hand has a combined structure between two kinds of shape adaptive mechanisms where one is the granular jamming and the other is a multi-finger mechanism driven by a single wire. Due to the effect of the two shape adaptive mechanisms, the pose of a grasped obj...

To be cost effective and highly precise, many industrial assembly robots have only four degrees of freedom (D.O.F. ) plus a binary pneumatic gripper. Such robots commonly permit parts to be rotated only about a vertical axis. However it is often necessary to reorient parts about other axes prior to assembly. In this paper we describe a way to orient parts about an arbitrary axis by introducing ...

In advanced robotics applications in unstructured environments (e.g. those foreseen in space) some degree of dexterity and autonomy is necessary in order to safely and successfully execute the required tasks. With this respect, besides the kinematic configuration, important aspects to be considered in the design of robotic end effectors are the sensorial equipment and proper control strategies....

AbstmctThis paper addresses a three-dimensional implementation that results in several separate manipulators, each with intermittent contact with a central object of known geometry, cooperatively manipulating the object to a desired new position and orientation. Rolling control of an object using redundant contact of several independent manipulators is made difficult by the hybrid nature of thi...

This work considers the failure tolerant operation of a kinematically redundant manipulator in an environment containing obstacles. In particular, the article addresses the problem of planning a collision-free path for a manipulator operating in a static environment such that the manipulator can reach its desired goal despite a single locked-joint failure and the presence of obstacles in the en...