A new approach of redundancy resolution for dexterous robots intended for the operations in clustered areas is proposed. These robots are modeled by series kinematic chains with a high number of degrees of freedom and are described by underdetermined systems of kinematic equations. The inverse problem has therefore an infinite number of solutions. The basic idea of the proposed approach is to f...

A biomechanical model of the thumb can help researchers and clinicians understand the clinical problem of how anatomical variability contributes to the variability of outcomes of surgeries to restore thumb function. We lack a realistic biomechanical model of the thumb because of the variability/uncertainty of musculoskeletal parameters, the multiple proposed kinematic descriptions and methods t...

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...

This paper is focused on the kinematic control of redundant modular robots for trajectory tracing. Based on the geometric numerical inverse kinematic algorithm developed for modular robots, a new online control method is presented. In this method, the inverse kinematic solution can be optimized through constructing a weighted matrix. Following this approach, some fundamental interpolation algor...

This paper presents a new approach for collision avoidance of manipulators. When the workspace is completely mapped and the obstacles are known, it is possible to define the task considering the presence of obstacles or their proximity can be monitored simply by the inverse kinematics resolution of the complete system. However, when the workspace is poorly mapped/unstructured and/or time-varyin...

A~trae t In this paper, we present the kinematic analysis and implementation of a 6 DOF robotic wrist which is mounted to a general open-kinematic chain manipulator to serve as a testbed for studying precision robotic assembly in space. The wrist design is based on the Stewart-Platform mechanism and consists mainly of two platforms and six linear actuators driven by d.c. motors. Position feedba...

1 IRCCyN: UMR CNRS 6596, Ecole Centrale de Nantes, Université de Nantes, Ecole des Mines de Nantes Abstract— Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. This pr...

This paper briefly discusses two of the well-known position/force control schemes used for industrial manipulators: Admittance Control and Hybrid Position/Force Control. In order to eliminate the instability problem that may occur in the customary versions of these schemes for large position errors, a modification is proposed, which is based on determining the joint-space position errors using ...