The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such system can be understood as special type hybrid parallel kinematic mechanism composed the rigid serial chain and additional auxiliary system. advantage is ability to reconfigure whole fulfillment sufficient prestressing constraint optimization process. Computed Torque Control force distribution algorithm...

In this paper, we present automatic selection and modification of camera configurations according to the motion of surrounding object by considering the camera’s visibility and the manipulator’s manipulability simultaneously. The visibility constraint guarantees that the whole of a target object could be ‘viewed’ with no occlusions by the surroundings, while the manipulability constraint guaran...

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 ...

The design of a general-purpose multibody simulator that runs in real-time and features haptic display is presented. The repertoire of this simulator includes systems subject to holonomic constraints, nonholonomic constraints, and notably, systems subject to changing constraints. In contrast to the use of generic equations of motion, Kane’s method is used by a computerized symbolic manipulator ...

We present a new constraint-based framework for task and motion planning (TMP). Our approach is extensible, probabilistically-complete, and offers improved performance and generality compared to a similar, state-of-the-art planner. The key idea is to leverage incremental constraint solving to efficiently incorporate geometric information at the task level. Using motion feasibility information t...

This paper presents an approach to estimating the contact state between a robot and its environment during task execution. Contact states are modeled by constraint equations parameterized by time-dependent sensor data and timeindependent object properties. At each sampling time, multiple model estimation is used to assess the most likely contact state. The assessment is performed by a Hidden Ma...

In this paper, two inverse-kinematic solutions with singularity robustness for a fully parallel robot manipulator are proposed. First, two inverse-kinematic solutions are presented based on the damped leastsquares method, where the first solution (OSVC) is derived using a velocity constraint, and the other (OSFC) uses a force constraint. It can be shown that both solutions are special cases of ...

In this paper, an eficient dynamic simulation algori thm is developed f o r an unmanned underwater vehicle (ULJV) with a robotic manipulator. It is based on an eficient O ( N ) algorithm where N is the number of links in the manipulator, and has been extended to include the full effects of a mobile base and various hydrodynamic forces that are ezerted on these systems in underwater environments...

This paper proposes a hybrid positiodforce controller for flexible link manipulators that make contact with the environment at more than one point. The manipulator maintains contact at the bracing point to reduce its strucruraI vibrations, and at the same time, rhe end effector may make contact with the workpiece to perform the task. This approach requires hybrid control not only at the end eff...