This paper describes new concepts and prototype software developments for the NC-programming of parallel machine tools. Important characteristics of the system are the integration of a machine workspace model with the CAM system and the integration of a NC-simulation system with the postprocessor. During tool path generation, each tool posture is checked for feasibility by a fast interrogation ...

This paper discusses a new approach to haptic feedback for teleoperation of hovering vehicles. Traditionally airplane and helicopter controls use the displacement of a joystick as the main supervisory control input. It is common to overlay force feedback to convey additional information about forces occuring in the controlled craft. However, there are some fundamental problems when trying to fe...

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 ...

Kinematic position analysis is the first step in creating a complete mathematical model of the new manipulator architecture. This analysis will begin by developing a general descriptive model that characterizes the kinematic geometry of the device. From this geometric model, a mathematical function relating the input-to-output position parameters will be formed. The goal of this function is to ...

The controllable workspace of a tendon-based Stewart Platform is the set of postures where forces and torques at the end-eeector can be controlled. A necessary and suucient condition is given for those postures where forces can be controlled; thus, a superset of the controllable workspace can be calculated easily. External forces are modeled as an additional tendon xed at iniinity by introducin...

The isometric pull and push strength profiles of males and females were determined in seated and standing positions in the workspace. The strongest pull strength location was at extreme reach vertically above the shoulder for both males and females. The greatest pull strength of 400 Newtons (N) for males was recorded in the seated and standing positions. Females' pull strengths in the seated an...

in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

The aim of this paper is to improve the position accuracy of a six degree of freedom medical robot. The improvement in accuracy is achieved without the use of any external measurement device. Instead, this work presents a novel calibration approach based on using an embedded force-torque sensor to identify the robot's kinematic parameters and thereby enhance the positioning accuracy. A simulati...