In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

In this paper we apply the kineto-static mathematical models commonly used for robotic hands and for parallel manipulators to an example of handplus-object (parallel manipulator) with three fingers (legs), each with two phalanges (links). The obtained analytical matrix expressions that define the velocity and static equations in both frameworks are shown to be equivalent. This equivalence clari...

This paper presents a kinematic analysis of a parallel manipulator we have been developing for the probing task application that requires high bandwidth, active compliance, and high precision. Based on the concept of macro/micro manipulators, the parallel manipulator serves as a wrist of a macro manipulator. The developed manipulator is a class of in-parallel platforms with 3 PRPS( prismatic-re...

Constrained multibody systems typically feature multiple closed kinematic loops that constrain the relative motions and forces within the system. Typically, such systems possess far more articulated degrees-of-freedom (within the chains) than overall end-effector degrees-of-freedom. Thus, actuation of a subset of the articulations creates mixture of active and passive joints within the chain. T...

In this paper, it is shown how to obtain recursive dynamics algorithms for multibody systems with serial, parallel, and closed-loop chains using the concept of Decoupled Natural Orthogonal Complement (DeNOC) matrices. The DeNOC is the product of two block matrices to yield the Natural Orthogonal Complement (NOC), which is a velocity transformation matrix orthogonal to the kinematic constraint m...

This paper investigates a situation pointed out in a recent paper, in which a non-singular change of assembly mode of a planar 2-RPR-PR parallel manipulator was realized by encircling a point of multiplicity 4. It is shown that this situation is, in fact, a non-generic one and gives rise to cusps under a small perturbation. Furthermore, we show that, for a large class of singularities of multip...

In the article it is proposed to improve wave power plants by using a primary manipulator converter (PMC) with the structure of a parallel six-mobile manipulator for converting energy of waves into mechanical energy. There has been developed a physical model of a primary manipulator converter confirming its functionality. There have been obtained geometrical dimensions of a primary manipulator ...

Abstract This paper presents the kinematic calibration of a novel six-legged walking machine tool comprising mobile robot integrated with parallel manipulator on body. Each leg is 2-universal-prismatic-spherical (UPS) and UP mechanism, 6-PSU mechanism. The error models both subsystems are derived according to their inverse kinematics. objective function for each limb formulated as residual, i.e...

This paper presents a kinematic analysis of a parallel manipulator we have been developing for the micro-positioning application that requires high control bandwidth and high precision. The developed manipulator is a class of in-parallel platforms with 3 PRPS (prismatic-revolute-prismatic-spherical joints) chain geometry. The main advantages of this manipulator, compared with the typical Stewar...

This work presents the status of running project (2007–2010). The new nine degrees of freedom cable driven robot has been developed. Main parts: the mechanical design of parallel manipulator and the heart of control system have been presented. The preliminary tests of the prototype application have been performed. As the final result of the project, a robotic cable driven crane will be develope...