A recursive dynamic modeling of a three-DOF parallel robot, namely, threeRevolute-Prismatic-Spherical (3-RPS) parallel manipulator is reported in this work. Euler parameters are utilized to define the 3-DOF orientation of its moving platform, because the coordinates are free of singularity. For the dynamic modeling, the concept of the Decoupled Natural Orthogonal complement (DeNOC) matrices is ...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

The energy efficiency of a robotic manipulator is important, particularly when that manipulator is used in conjunction with a mobile robot with limited battery life. In this paper the energy efficiency (in terms of the electrical energy usage) of a spatial three DOF parallel manipulator is compared to a serial manipulator with the same drive motors and a similar workspace. The effects of endeff...

In this paper robust controllers have been obtained by using QFT and H∞ control techniques, to control movements of waist, shoulder and elbow of a 6-DOF manipulator. An uncertain experimental linear model of the robot, that represents the non-linearity of the dynamics system, was used to design the controllers. First, H∞ controllers were obtained by using weighting functions and then robust PID...

I n previous work, the authors developed a novel f ramework for ‘hyper-redundant’ robot kinematic analysis and algorithm development. In order t o validate and denioiistrate that work, a 30 degree-of-freedom planar hyper-redundant manipulator was constructed. This paper reviews the implementation of this robot and su1))iiiari:es experimental work in hyper-redundant manipulrilion, obstacle avoid...

In this paper a New RBF Neural Network based Sliding Mode Adaptive Controller (NNNSMAC) for Robot Manipulator trajectory tracking in the presence of uncertainties and disturbances is introduced. The research offers learning with minimal parameter (LMP) technique robotic manipulator tracking. decreases online adaptive parameters number to only one, lowering computational costs boosting real-time...

In this paper we want to argue for contact as an enabler for efficient motion planning under uncertainty. Controlled and desired contact can project a high dimensional belief state to a lower-dimensional manifold. A robot can sequence these projections to reduce uncertainty about its state. For realistic applications, these uncertainty reducing actions must be sequenced with uncertainty-increas...

Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rot...

In this paper, a surface sculpturing system based on 8-axis robot is proposed, the CAD/CAM software and tool path generation algorithm for this sculpturing system are presented. The 8-axis robot is composed of a 6-axis manipulator and a 2-axis worktable, it carves block of polystyrene foams by heated cutting tools. Multi-DOF (Degree of Freedom) robot benefits from the faster fashion than tradit...