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 ...

This paper presents recent results from the Robotics Systems Laboratory at the Australian National University in the area of Robot Vision. Progress has been made in the design and construction of novel mechanisms for both active and panoramic vision, together with computer systems that facilitate real-time vision processing. The robot vision systems are being used to develop human-friendly robo...

The concept of a medical robot constructed by parallel mechanisms for chest compressions in rescuing a patient is proposed in this paper. In light of the requirements of cardiopulmonary resuscitation (CPR) from medical aspects, a new translational parallel manipulator employing the architecture of DELTA parallel robot is designed, which utilizes an architectural optimization methodology for suc...

A model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental re...

This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the ...

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that th...

This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...