This paper presents a method for coordinating the motion of multiple manipulators that share a common workspace. The approach employs independent motion controllers for each manipulator coupled by way of common connguration space constraints | each robot is represented as a constraint in the other conngura-tion spaces. The harmonic function-based controller for each robot guarantees collision-f...

[Introduction] Almost of all needle insertion manipulator for stereotactic neurosurgery use computed tomography (CT) to scan the brain of the patient before and during operation. Currently, we are developing a needle insertion manipulator for magnetic resonance imaging (MRI)-guided neurosurgery. MRI techniques are getting attractive now for the development of interventional MRI therapies and op...

In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator+s Jacobian, those based on the local optimization of objective functions in the null space of...

Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...

The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degre...

This paper reports a sensor system which it has been designed and constructed to acquire the profile of surfaces. This system is based in a CCD camera for object boundary-determination mounted over a robot manipulator shoulder and ultrasonic sensors for depth measurement mounted on a fixture at the wrist of the manipulator. It has been used an average weighted by degrees of confidence for raw s...

A novel composite control scheme for a manipulator with flexible links and joints is presented that uses the singular perturbation technique (SPT) to divide the manipulator dynamics into reduced order slow and fast subsystems. A neural network controller is then applied for the slow subsystem and a state-feedback H∞ controller for the fast subsystem. Results are presented that demonstrate impro...

This paper analyses the reasons for resulting in the instability of mobile manipulator. Several methods of stability analysis and errors compensation are introduced, including the theories, the modeling processes and their characteristics. The significance of analysing the stability and compensating the errors are expounded. In addition, the corresponding applications are also discussed. Finall...

A mobile manipulator composed of a manipulator and a mobile platform has a much larger workspace than a xed-base manipulator. While the on-board manipulator reaches out and performs manipulation tasks, the role of the mobile platform is to position the manipulator in a preferred connguration. In this paper, we study the eeect of the dynamic interaction between the manipulator and the mobile pla...

recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. this paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called dual-arm cam-lock manipulator. the manipulator i...