Effects of Pacing When Using Material Handling Manipulators

A Class of “Parallel-Serial” Manipulators and Their Application to Material Handling Automation

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Gentle Robotic Handling Using Acceleration Compensation

Nowadays, robot manipulators are being widely used in the industrial and manufacturing sector, because of their high precision, speed, endurance and reliability. In the automotive industry, their typical applications include welding, painting, assembly of body, pick and place, etc. Normally, the main task is restricted to simple operations like moving a tool in different working locations. In t...

A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints

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...

Mapping, Detection and Handling of Singularities for Kinematically Redundant Serial Manipulators

This paper deals with the singularities of kinematically redundant manipulators in terms of determining the singularity manifolds in configuration space, and detecting/handling singular configurations in a local kinematic planning environment. Using the example of a specific manipulator with 8 degrees of freedom, a systematic method is presented which is generally applicable to the given class ...