This paper presents an alternative to inverse kinematics for mobile manipulator grasp pose selection which integrates obstacle avoidance and joint limit checking into the pose selection process. Given the Cartesian coordinates of an object in 3D space and its normal vector, end-effector pose objectives including collision checking and joint limit checks are used to create a series of cost funct...

The paper is devoted to the analysis of robotic manipulator behavior under internal and external loadings. The main contributions are in the area of stability analysis of manipulator configurations corresponding to the loaded static equilibrium. In contrast to other works, in addition to usually studied the end-platform behavior with respect to the disturbance forces, the problem of configurati...

This paper presents a Nonlinear Model Predictive Control (NMPC) for redundant robotic manipulators. Using NMPC, the end-effector of the robotic manipulator tracks a predefined geometry path in Cartesian space in such a way that no collision with obstacles in the workspace and no singular configurations for the robot occurs. Nonlinear dynamic of the robot, including actuators dynamic, is also co...

This paper presents a new approach to parallel motion planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based on the A*-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly descrete configuration space. Collisions are detected in the cartesian workspace by hierarchical distance computat...

This thesis deals with the kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators. The inverse kinematics of each mechanism is first computed and a nengeneral algorithm is used to locate the boundaries of the workspace of the mechanism. Two approaches. narnely. the algebraic formulation and the vector formulati...

The definition of $L$-fuzzy Q-convergence spaces is presented by Pang and Fang in 2011. However, Cartesian-closedness of the category of $L$-fuzzy Q-convergence spaces is not investigated. This paper focuses on Cartesian-closedness of the category of $L$-fuzzy Q-convergence spaces, and it is shown that  the category $L$-$mathbf{QFCS}$ of $L$-fuzzy Q-convergence spaces is Cartesian-closed.

A category $mathbf{C}$ is called Cartesian closed  provided that it has finite products and for each$mathbf{C}$-object $A$ the functor $(Atimes -): Ara A$ has a right adjoint. It is well known that the category $mathbf{TopFuzz}$  of all topological fuzzes is both complete  and cocomplete, but it is not Cartesian closed. In this paper, we introduce some Cartesian closed subcategories of this cat...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...