Controlling a chain of tethered mobile robots (TMRs) can be challenging task. This kind system considered kinematically as an open-chain robotic arm where the are revolute joint and tether is variable length link, using prismatic joint. Thus, TMRs problem decoupled into two parallel problems: equivalent manipulator control shape computation. Kinematic redundancy exploited in order to coordinate...

The goal of this research is to develop algorithms using multiple views to automatically recover complete 3D models of articulated objects in unstructured environments and thereby enable a robotic system to facilitate further manipulation of those objects. First, an algorithm called Procrustes-Lo-RANSAC (PLR) is presented. Structure-from-motion techniques are used to capture 3D point cloud mode...

ion of Manipulation Tasks to Automatically Generate Robot Motion from Observation Jun TAKAMATSU and Katsushi IKEUCHI † Institute of Industrial Science, The University of Tokyo †† Graduate School of Interdisciplinary Information Studies, The University of Tokyo Institute of Industrial Science, The University of Tokyo, 3rd Dept. Ikeuchi Laboratory 4-6-1 Komaba, Meguro-ku, Tokyo, 153-8505, JAPAN +...

The kinematic mapping x = f(&thetas;) is generally many to one. For nonredundant manipulators, this means that there are a finite number of configurations (joint angles) that will place the end-effector at a target location in the workspace. These correspond to postures of the manipulator, and each configuration lies on a specific solution branch. It is shown that for certain classes of revolut...

This paper formulates and solves the design equations for three degree-of-freedom spatial serial chains constructed with two revolute (R) joints and one prismatic (P) joint. Previous work has shown that equating the kinematics equations of the chain to a set of end-effector positions yields 24 equations in 25 unknowns, which means one of the design parameters can be chosen arbitrarily. Here it ...

Abstract Design of fluidic actuators remain challenging in specific contexts such as the medical field, when solutions have for instance to be compatible with stringent requirements magnetic resonance imaging. In this paper, an innovative design hydraulically-actuated revolute joint is introduced. The originality linked use multimaterial additive manufacturing its production. Hydraulic actuatio...

This paper studies the workspace of a six-DC)F parallel manipulator of three-PPSR (prismatic-prismaticspheric-revolute) type. It is well recognized that the most significant drawback of parallel manipulators is their limited workspace. To develop new parallel mechanisms with a larger workspace is of interest to additional applications. The mechanism of the three-PPSR manipulator and its variati...

The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...

Abstract. Mechanisms are prone to stuttering or even jamming due the deformation of components, especially for overconstrained linkages which geometric conditions must be strictly satisfied. In this paper, joint clearance is actively introduced release local constraint so that can still achieve general movement under components. And a model with revolute (R-joint) built. Based on model, minimum...