Composite structures in aeroplanes are often thin-walled and lightweight, resulting significant compliance, which presents a handling assembly challenge due to the associated part deformations. In order counteract these deformations, parts held their specified geometry using stiff correspondingly heavy fixtures or jigs. Mobile industrial robots very versatile widely used volume production, but ...

A direct visual-servoing algorithm for control of a space-based two-arm manipulator is proposed in this paper. The can be utilized manipulators configuration, where one the arms performs manipulation and second arm dedicated to observation target zone manipulation. utilizes both visual features extracted from onboard cameras force torque measured at manipulator's end-effector movements during o...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...