Planning optimal paths for large numbers of robots is computationally expensive. In this thesis, we present a new framework for multirobot path planning called subdimensional expansion, which initially plans for each robot individually, and then coordinates motion among the robots as needed. More specifically, subdimensional expansion initially creates a one-dimensional search space embedded in...

The robot-assisted flexible access surgery represented by the emerging endoscopy (FE) and natural orifice transluminal endoscopic demands continuum manipulators instead of rigid straight instruments in traditional minimally invasive (MIS). These are required to advance through tortuous narrow anatomic paths via orifices for dexterous diagnostic examination therapeutic operations. Therefore, dev...

nderactuated mechanical systems are those possessing fewer U actuators than degrees of freedom. Examples of such systems abound, including flexible joint and flexible link robots, space robots, mobile robots, and robot models that include ac-tuator dynamics and rigid body dynamics together. Complex intemal dynamics, nonholonomic behavior, and lack of feedback linearizability are often exhibited...

Space robots are an effective resource for astronauts working in a dangerous space environment. This paper proposes and implements a system to validate the performance of robot movement in space. A humanoid robot was designed with a vision-based self-calibration and navigation system. In addition, a path planning method was proposed to minimize joint torque. Simple gravity-compensation equipmen...

This paper presents a new conception and analyzes hyperredundant continuous robot (continuous style manipulator), drive system, control strategy. The includes ten flexible segments can be extended to several components as needed. chosen hyper-redundant has infinite hybrid structure (HHRIC), based on hydraulic with rheological element. system combines the advantage of joint-level lightweight con...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

Abstract In the development and research of industrial robots, due to defects traditional mechanical structures in drive system sensors, control units other aspects, so order solve these problems improve efficiency flexible work, author proposes a Matlab based core motion characteristics analysis method, that is mathematical modelling method (GUI) elastic joint robot dynamics The relationship b...

A new generation of industrial quality robotic manipulators is currently being released on the international market. State of the art over-actuated manipulators are now starting to be flanked with a significant proprioceptive capacity (i.e. force/torque sensing at each joint). Joint proprioception can be further extended by force/torque sensing at the robot’s wrist and multi-fingered robotic ha...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...