Robot dynamics is required for simulation, control, analysis of robot motion planners and controllers. There are a number dynamic modelling investigations robots with the different approaches these mostly focus on link flexibility, joint friction or actuator dynamics. In addition to that studies present model without any attached linear torsion springs. this study, two-link rigid manipulator sp...

In this paper a flexible software framework is presented, that allows for the easy configuration, modeling, simulation, and collision avoidance for the manipulators of a service robot. The configuration of the robot including the number of manipulators, their degrees of freedom, the corresponding Denavit-Hartenberg parameters, geometry, fieldbus parameters etc. can be specified easily in xml co...

In this paper, the inverse kinematics solutions for 16 industrial 6-Degrees-of-Freedom (DOF) robot manipulators with offset wrists are solved analytically and numerically based on the existence of the closed form equations. A new numerical algorithm is proposed for the inverse kinematics of the robot manipulators that cannot be solved in closed form. In order to illustrate the performance of th...

The DELTA robot and the manipulators derived from the DELTA robot are a relevant class of translational manipulators. In this paper, the mobility analysis of these parallel translational manipulators is developed in full. The manufacturing and mounting conditions that guarantee the pure translation of the platform are analytically derived. Moreover, it is demonstrated that these manipulators ca...

The control of robotic manipulators has become important due to the development of the flexible automation. Requirements such as the high speed and high precision trajectory tracking make the modern control indispensable for versatile applications of manipulators (Middleton & Goodwin, 1998; Ortega & Spong, 1999; Popescu et al., 2008). Rigid robot systems are subjects of the research in both rob...

This paper introduces DART, a general framework for tracking articulated objects composed of rigid bodies connected through a kinematic tree. DART covers a broad set of objects encountered in indoor environments, including furniture and tools, and human and robot bodies, hands and manipulators. To achieve efficient and robust tracking, DART extends the signed distance function representation to...

A framework for force and visual control of robot manipulators in contact with a partially known environment is proposed. The environment is modelled as a rigid object of known geometry but of unknown and time-varying pose. An algorithm for online estimation of the object pose is adopted, based on visual data as well as on force measurements. This information is used by a force/position control...

Elastic robot joints gain in importance since the nowadays robotics tends to the lightweight structures. The lightweight metals and composite materials deployed not only in the links but also in the joint assemblies affect the overall stiffness of robotic system. The elastic joints provide the loaded robot motion with additional compliance and can lead to significant control errors and vibratio...

This paper addresses the position control problem for robot manipulators. We present three new controllers with bounded actions supported by a rigorous stability analysis including the robot dynamics in the closed–loop using Lyapunov’s direct method and the LaSalle’s invariance principle. Besides the theoretical results, the performance of proposed controllers is illustrated by experimental res...

INTRODUCTION Despite the potential clinical advantages of holmium laser enucleation of the prostate (HoLEP), there has been reluctance of the urologic community to adopt the procedure, as a result of a perceived steep learning curve. Thus, we sought to design and develop a transurethral endoscopic robotic platform for HoLEP. MATERIALS AND METHODS We developed a novel transurethral, concentric...