One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...

In this paper the kinematic and Jacobian analysis of a macro–micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of the Large Adaptive Reflector (LAR), the Canadian design of the next generation of giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at the mac...

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the ...

Abstract Cable‐driven parallel robots (CDPRs) are in which cables used instead of rigid connecting elements. An important task here, as other areas robotics, kinematic calculations. The state the CDPR can be described either Cartesian workspace coordinates a pose or joint space via cable lengths. calculation lengths from given platform is relatively simple for CDPRs. In contrast, forward kinema...

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered as a redundant 3-dof manipulator, and an algorithm is presented to solve the redundancy by using the joint velocities in the null space of the jacobian matrix. The internal motion of the assisted man...

This paper focus on dynamic visual seroving of a cable-driven soft robotic manipulator system. The soft robotic manipulator has no rigid structure. Based on Lagrange mechanics, kinetic energy, elastic potential energy and gravitational potential energy of each segment are analyzed, thus general dynamic equation of the soft robotic manipulator is obtained. On this basis, a depth-independent imag...

Mechanical structure of a cable-based parallel manipulator consists of a moving platform, witch is called end-effector, and a base. These two elements are connected by multiple cables. Indeed, the end-effector is operated by motors that can extend or retract cables. Cable-based parallel manipulators are structurally similar to parallel ones but they have some advantages, if compared to classica...