In the paper we present a solution to the optimal trajectory planning problem subject to constraints given by the actuator torques and velocities, and the task. The main result is a trajectory planning algorithm which enables the calculation of the optimal motion due to the given requirements and taking into account the dynamics of the manipulator. The dynamic model of the manipulator in the pa...

As the requirements for robot performance increase, the dynamics of the manipulator become more dominated by flexibility. These flexible effects generate model uncertainty which reduces the end-point positioning accuracy of the manipulator. Residual vibration or tip deflection due to uncertain payloads may contribute to the error in tip position. This paper addresses several control strategies ...

Recursive modelling for the kinematics and dynamics of the known 3-PRR planar parallel robot is established in this paper. Three identical planar legs connecting to the moving platform are located in a vertical plane. Knowing themotion of the platform,we develop first the inverse kinematics and determine the positions, velocities and accelerations of the robot. Further, the principle of virtual...

A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently...

This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...

The Engineering Test Satellite VII (ETS-VII), an unmanned spacecraft equipped with a 2-m long, six-degree-of-freedom manipulator arm, was developed and launched by the National Space Development Agency of Japan (NASDA). ETS-VII has successfully carried out a variety of on-board experiments with its manipulator arm, and these key technologies are essential for an orbital free-flying robot. These...

A recently developed spatial operator algebra for manipulator modeling, control and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The e ect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be e ciently obt...

In this article we present a scheme for mobile manipulation by introducing a Mobile Manipulation Control Architecture (MMCA). This architecture is motivated by a need for a systematic control structure for robotic manipulation within a behavior based framework. The control structure enables integration of the manipulator into a behavior based control structure for the platform. Furthermore, our...

This paper deals with position-based 6-DoF visual servoing. With a common sense of feedback control, we stress that improvement of the dynamics of the sensing feedback unit is important for a stable visual servoing system. We propose a method to improve dynamics in visual recognition of model-based matching, with the on-line matching compensating the fictional motion of the target in the hand-e...