This article presents a standardized human–robot teleoperation interface (HRTI) evaluation scheme for mobile manipulators. Teleoperation remains the predominant control type manipulators in open environments, particularly quadruped However, manipulators, especially are relatively novel systems to be implemented industry compared traditional machinery. Consequently, no method has been establishe...

The PUMA (Programmable Universal Machine for Assembly, or Programmable Universal Manipulation Arm) is an industrial robot arm developed at a pioneering robot company Unimation. Application engineering, design experience, and enhanced manufacturing techniques have resulted in a powerful robot line with long reach and heavier payload capabilities. The advanced design and flexibility of the robots...

Engineers have for some time known that singularities play a significant role in the design and control of robot manipulators. Singularities of the kinematic mapping, which determines the position of the end–effector in terms of the manipulator’s joint variables, may impede control algorithms, lead to large joint velocities, forces and torques and reduce instantaneous mobility. However they can...

In this paper, a new adaptive switching control approach, called adaptive evolutionary switching PD control (AES-PD), is proposed for iterative operations of robot manipulators. The proposed AES-PD control method is a combination of the feedback of PD control with gain switching and feedforward using the input torque profile obtained from the previous iteration. The asymptotic convergence of th...

Placement of robotics manipulators involves the specification of the position and orientation of the base with respect to a predefined work environment. A general approach to the placement of manipulators based on the kinematic dexterity of mechanisms is presented. In many robotic implementations, it is necessary to carefully plan the layout of the workplace, whether on the manufacturing floor ...

Several results on robot manipulator motion control require a uniform bound for the Hessian of the potential energy or equivalently the Jacobian of the gravity vector. Not all robot manipulators, however, ensure the existence of such a uniform bound. The first contribution of this article is the complete characterization of this class which is referred to as class BG J manipulators. The uniform...