This paper provides an estimation model for calibrating the kinematics of manipulators with a parallel geometrical structure. Parameter estimation for serial link manipulators is well developed, but fail for most structures with parallel actuators, since the forward kinematics is usually not analytically available for these. We extend parameter estimation to such parallel structures by developi...

The paper focuses on the mechanics of a compliant serial manipulator composed new type dual-triangle elastic segments. Both analytical and numerical methods were used to find stable unstable equilibrium configurations, as well predict corresponding shapes. stiffness analysis was carried for both loaded unloaded modes, matrices computed using Virtual Joint Method (VJM). results demonstrate that ...

Kinematically redundant serial manipulators are currently used in industry either to avoid singular configurations or to increase dexterity. However, the surplus degrees of freedom of such mechanisms can also be used to ensure, or at least increase safety in a human-robot collaborative scenario. In this work the behavior of a serial manipulator with nine rotary joints is described where one joi...

This paper introduces a novel method for Cartesian trajectory and performance optimization control of kinematically-redundant trussbased manipulators (TBMs), The Virtual Serial Manipulator Approach. The approach is to model complex in-parallel-actuated TBMs as simpler kinematically-equivalent virtual serial manipulators. Standard control methods for kinematically-redundant serial manipulators c...

Abstract This work investigates on the coordinated locomotion between a ceiling-mounted serial manipulator and two SwarmItFIX robots. The former holds machining tool as an end effector, other robots act swarm robotic fixtures in sheet metal milling process. A novel offline coordination planner which follows hierarchical based hybrid type decentralized planning strategy has been proposed. Motion...

This study presents a comparison of different control laws for the trajectory control of a revolute-jointed manipulator. For this purpose, adaptive, robust and sliding mode control algorithms are applied to the model system so as to reduce tracking error at each joint. It is assumed that robot parameters are not known exactly and the system includes some uncertainties and disturbances. Computer...

This paper examines the problem of realizing a 6-DOF motion platform by proposing a closed loop kinematic architecture that benefits from an anthropological serial manipulator design. In contrast to standard motion platforms based on linear actuators, a mechanism with actuator design inspired from anthropological kinematic structure offers a relatively larger motion envelope and higher dexterit...