This paper provides a theoretical framework for controlling a manipulator with hyper degrees of freedom (HDOF). An HDOF manipulator has the capability to achieve various kinds of tasks. To make full use of its capability, shape control is proposed here; that is, not only the tip of a manipulator, but also its whole body is controlled. To formulate control objectives for shape control, we define...

In this paper we present new virtual spring manipulator-based tools for steering particles in molecular dynamics simulations in virtual environments. We briefly overview the MolDRIVE system, our visualization and computational steering environment for molecular dynamics real-time simulations, which is the platform for our particle steering implementation. Our study concentrates on visual feedba...

A new robust nonlinear controller is presented and applied to a planar 2-DOF parallel manipulator with redundant actuation. The robust nonlinear controller is designed by combining the nonlinear PD (NPD) control with the robust dynamics compensation. The NPD control is used to eliminate the trajectory disturbances, unmodeled dynamics and nonlinear friction, and the robust control is used to res...

This paper presents the singularity-free dynamic equations of the dynamically equivalent manipulator (DEM) of spacecraft-manipulator systems. The DEM is a fixed-base manipulator with the same dynamic properties as the corresponding free-floating spacecraftmanipulator system. The DEM consists of a spherical joint, representing the spacecraft and a robotic arm with the same joint types as the spa...

One of the most important features of the next generation of robots is the mobility and the ability to work in an unstructured environment. Conventional manipulator arms have bounded workspace and are thus appropriate only for some limited tasks. Hence, they need additional devices such as conveyor belts and handling devices in order to perform a task requiring large workspace. A new promising ...

High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limite...

We propose a method for motion control of a redundant manipulator on a flexible base. Manipulator selfmotion is determined from a velocity-level additional constraint obtained from base vibration dynamics. End-effector path tracking is ensured via pseudoinverse-based velocity control. In this way, algorithmic singularities associated with the additional constraint are avoided. The vibration sup...

On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is a great challenge for future space service. This paper mainly present a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards U...