Important robotic tasks could be most effectively done by powerful and accurate manipulators. However, high accuracy is generally unattainable in manipulators capable of producing high task forces due to such factors as high joint, actuator, and transmission friction and link elastic and geometric distortions. A method called Base Sensor Control (BSC) has been developed to compensate for nonlin...

The kinematics of robot manipulators is a corner stone in the study of robotics in general. The computational complexity of the kinematics quite often prevents robotics instructors from using robots of general structure in their illustrative examples and assignments. The software discussed in this article, developed from recent research to support an undergraduate course in robotics, offers com...

Many manipulation systems using air flow have been proposed for object handling in a non-prehensile way and without solid-to-solid contact. Potential applications include high-speed transport of fragile and clean products and high-resolution positioning of wafers. This paper discusses a comprehensive survey of state-of-the art pneumatic manipulation from the macro scale to the micro scale. The ...

The article discusses various solutions that exist in the field of remote control robotic devices equipped with manipulators. New approaches are presented for organizing joint telecontrol multiple manipulators using user inputs. following usage scenarios considered: architecture a system many and interfaces, including such promising areas as deep machine learning neural interfaces.

1.1 Robot manipulators Robot manipulators are well-known as nonlinear systems including strong coupling between their dynamics (Craig, 1996). These characteristics, in company with: 1) structured uncertainties caused by model imprecision of link parameters, payload variation, etc., and 2) unstructured uncertainties produced by un-modeled dynamics –such as nonlinear friction and external disturb...

This paper presents a new approach to calculate the direct and inverse differential kinematics for serial manipulators. The approach is an extension of the Davies method for open kinematic chains based on a virtual kinematic chain concept introduced in this paper. It is a systematic method that unifies the kinematics of serial manipulators considering the type of kinematics and the coordinate s...

In this paper, 3-PPR planar parallel manipulators with ∆or U-shape base are compared with respect to their workspace size and kinematic sensitivity to joint clearances. First, the singularities and workspace of a general 3-PPR planar parallel manipulator are analyzed. Then, an error prediction model applicable to both serial and parallel manipulators is developed. As a result, two nonconvex qua...

In recent years, the progress in the development of parallel manipulators has been accelerated since parallel manipulators possess many advantages over their serial counterparts in terms of high accuracy, velocity, stiffness, and payload capacity, therefore allowing their wide range of applications as industrial robots, flight simulators, parallel machine tools, and micro-manipulators, etc. Gen...

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that th...