This paper presents a motion planning method for mobile manipulators for which the base locomotion is less precise than the manipulator control. In such a case, it is advisable to move the base to discrete poses from which the manipulator can be deployed to cover a prescribed trajectory. The proposed method finds base poses that not only cover the trajectory but also meet constraints on a measu...

We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph is a cycle. In particular, we obtain a number of linkages with four revolute and two prismatic joints and a remarkable linkage with seven revolute joints one...

The method for parallel mechanism type synthesis is introduced based on the kinematic characteristics flow process from the joints to the end-effector of parallel mechanism. Some new kinds of redundant input parallel mechanisms are brought forward by this method. By adopting double-inputs interface module, a kind of parallel earthquake simulator is presented and manufactured. The according cont...

A scheme for learning to grasp objects using visual information is presented. A system is considered that coordinates a parallel-jaw gripper (hand) and a camera (eye). Given an object, and considering its geometry, the system chooses grasping points, and performs the grasp. The system learns while performing grasping trials. For each grasp we store location parameters that code the locations of...

High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a settling time design method and a parame...

Although much is known concerning the immunobiology of CD8+ T memory cells, the initial events favoring the generation of CD8+ T memory cells remain poorly defined. Using a culture system that yields memory-like CD8+ T cells, we show that 1 day after Ag encounter, Ag-activated T cells developed into memory-like T cells, but this optimally occurred 3 days after Ag encounter. Key phenotypic, func...

This paper shows mechanisms for artificial finger based on a planetary gear system (PGS). Using the PGS as a transmitter provides an under-actuated system for driving three joints of a finger with back-drivability that is crucial characteristics for fingers as an end-effector when it interacts with external environment. This paper also shows the artificial finger employed with the originally de...

In this paper, a method is proposed to analytically determine the "uncertain" configurations of a general 6R manipulator. A configuration is called uncertain if in that configuration the manipulator’s joint freedom is greater than its end-effector freedom. In uncertain configurations, the manipulator acts like a redundant system where the endeffector remains in the same pose even if one (or mor...

Cardiac catheters allow physicians to access the inside of the heart and perform therapeutic interventions without stopping the heart or opening the chest. However, conventional manual and actuated cardiac catheters are currently unable to precisely track and manipulate the intracardiac tissue structures because of the fast tissue motion and potential for applying damaging forces. This paper ad...

Zusammenfassung In diesem Artikel wird eine fluidisch angetriebene Roboterhand vorgestellt, deren flexible Aktuatoren adaptives Greifen sowie die weiche Handhabung von Gegenständen ermöglichen. Der mechanische Aufbau vereinigt die anthropomorphe Erscheinung mit einer präzisen DreiPunktKinematik eines Greifers. Es werden Designmerkmale, das Antriebskonzept, die Steuerungskomponenten, technische ...