Abstract: The Coordination of the motion planning of the manipulator end point and the mobile base is a crucial task for a mobile robot control. The mobile manipulator is mounted on the mobile platform where the end point of the manipulator is guided to follow an arbitrarily chosen path .The mobile platform may move in such a manner so that the manipulator end may track the arbitrary trajectori...

The growing interest in the use of parallel manipulators in machining applications requires clear determination of the workspace and dexterity. In this paper, the workspace optimization of a Tricept parallel manipulator under joint constraints is performed. This parallel manipulator has complex degrees of freedom and, therefore, leads to dimensionally inhomogeneous Jacobian matrices. Here, we d...

Manipulators with mobile base are gaining momentum in the industry due to improved workspace and flexible adaptability to changes in the product designs. Although there has been research in this field for a considerable time, many issues are still to be resolved viz. obstacle avoidance, redundancy resolution for singularity avoidance, dynamic analysis of combined manipulator and a mobile robot,...

A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to el...

INTRODUCTION We have developed a motorized MR-compatible manipulator with a remote-center-of-motion (RCM) control to assist MR guided microwave ablation of liver tumors and started clinical studies using it. Our preliminary experiences of the initial two cases have been reported at the previous ISMRM meeting in Toronto. The manipulator was designed to puncture liver tumors from the anterior abd...

This paper describes a concept for measuring the reproducible performance of mobile manipulators to be used for assembly or other similar tasks. An automatic guided vehicle with an onboard robot arm was programmed to repeatedly move to and stop at a novel, reconfigurable mobile manipulator artifact (RMMA), sense the RMMA, and detect targets on the RMMA. The manipulator moved a laser retroreflec...

In this paper, motion control of electrical driven free floating space manipulator is considered.The dynamics of the free-floating space manipulator are derived based on Virtual Manipulator Approach(VMA),which allows us to develop controller in joint space. Then a proportional plus derivative feedback control system with disturbance observer(DOB)are employed to compensate joint coupling,unmodel...

In this paper an automatic bionic mechanical arm of jujube transplanter has been designed and simulated with Pro/E and ADAMS software. The device can achieve the work of clamping—sending—setting the sapling and support the sapling to guarantee it perpendicularity in setting process. Design the structure of manipulator utilizing the simulation of hand working. There is 5-DOF at the manipulator t...

This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM), which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The re...

A reconfigurable parallel manipulator system consists of an inventory of standard interchangeable actuator modules, passive joint modules, and customizable links and connectors. Due to the interchangeability and modularity, a parallel manipulator constructed in this manner can have different structures and degrees of freedom (DOF). This article presents a two stage design methodology, from stru...