A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced to the solution of a 3-degree polynomial and a quadratic equation in sequence. The singularities are calculated and plotted in the joint space. The second-o...

Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, identification is extremely important. However, serial that do not meet Pieper criterion cannot obtain through analytical methods. A joint angle parameterization method, used to configurations, here creatively proposed. First, an method based on Jac...

A Cartesian compliance based control scheme is presented for the kinematically redundant serial manipulator. The controller can be decomposed into three parts. The first part imposes the desired cartesian compliance of the end effector. The second part attempts to shape the cartesian compliance parameters of the virtual points by the avaiable joint torque null space. Finally, the additional ter...

The paper by Zhnang and Roth [5] presents a Linear solution to kinematic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved first before solving for the translation parameters for all revolute joints and the orientation parameters for all prismatic joints simultaneously. Our major modification here is to decomp...

In this paper, the UDUT decomposition of the generalized inertia matrix o f an n-link serial manipulator is presented in symbolic form, where U and D, respectively, are the upper triangular and diagonal matrices. To render the decomposition, the elementary upper triangular matrices, associated to a modified Gaussian elimination, are introduced, whereas each element of the inertia matrix is writ...

This paper introduces a new 4-revolute (4R) serial manipulator having a non-trivial path of positioning isotropy. A manipulator is said isotropic if its Jacobian matrix can reach isotropic values—i.e. the minimum condition numLucber of unity—at least at a single posture within its workspace (Salisbury and Craig, 1982). The design of manipulators able to reach isotropy is of particular interest ...

The use of robotic manipulators in remote and sensitive areas calls for more robust solutions when handling joint failure, and the industry demands mathematically robust approaches to handle even the worst case scenarios. For both serial and parallel manipulators torque failure is indeed a worst case scenario. Thus, a systematic analysis of the effects of external forces on manipulators with pa...

A s serial robots parallel manipulator may be in a singular configuration. In these configurations the inverse jacobian matrix is singular and the end-effector may move although the articular velocities are equal to zero. The determination of the loci of these singular configurations is an important problem because in such configuration the articular forces may go to infinity and yield importan...

In this paper, a new Behavioral-based Particle Swarm Optimization algorithm is proposed in order to solve the inverse kinematics problem for a manipulator operating in an environment cluttered with obstacles. The introduced variant of the Particle Swarm Optimization relies on the idea of dividing the population of the particles in subgroups, each of which with a specific task, achieving in this...

A design methodology, based on evolutionary algorithms, for simultaneously optimizing the topology and the parameters of a serial robot manipulator along with the required feedback control laws for performing specified tasks is presented. Dynamic performance measures, for the closed-loop system, are optimized by considering a nonlinear PD controller for an end-effector tracking problem. Results...