In this paper, the four-precision-point geometric design problem of serial-link robot manipulators with three revolute joints is solved using a polynomial continuation method. At each precision point, the end-effector spatial locations are defined. The dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator’s end-effector will be able to reach these fou...

Failure mode and reliability analysis is particularly important for robot manipulators to be deployed in remote environments, where inspection and repair are di cult, and reliability is of prime importance. This is particularly true for manipulators involved in hazardous waste management operations, where failure could be both expensive and highly dangerous. In this paper, we describe a Fault T...

The significance of singularities in the design and control of robot manipulators is well known and there is an extensive literature on the determination and analysis of singularities for a wide variety of serial and parallel manipulators—indeed such an analysis is an essential part of manipulator design. Singularity theory provides methodologies for a deeper analysis with the aim of classifyin...

Coordinating two robot manipulators to handle flexible materials has a wide range of applications in the manufacturing industry. However, this problem has not been seriously addressed until recently. The two robot manipulators have to follow complicated trajectories to maintain a minimum interaction force with the flexible beam. These trajectories are very complicated and not suitable for real ...

 Important robotic tasks could be effectively performed by powerful and accurate manipulators. However, high accuracy is generally difficult to obtain in large manipulators capable of producing high forces due to system elastic and geometric distortions. A method is presented to identify the sources of end-effector positioning errors in large manipulators using experimentally measured data. Th...

Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive in...

Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...

A flexible operation of multiple robotic manipulators operating in a dynamic environment requires online trajectory planning to ensure collision-free trajectories. In this work, we propose real-time capable motion control algorithm, based on nonlinear model predictive control, which accounts for static and obstacles. The proposed algorithm is realized distributed scheme, where each robot optimi...