The goal of this project was to design and implement the electronics for a robotic device – namely a robotic manipulator. The manipulator has a total of six degrees of freedom, three of which are on the manipulator itself, and the rest are in the wrist. A gripper is used as the end stage of the device. It was necessary to design the electronics so that they could be interfaced with standard har...

In this paper, a trajectory planning method of a mobile manipulator is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesi...

This chapter describes a control method for a multi-joint robotic manipulator using Electromyogram (EMG) signals for operating a glovebox. The system uses a Probabilistic Neural Network (PNN) to estimate the user’s intended motion from EMG patterns, and generates a control command for the glovebox and robotic manipulator corresponding to the estimated motions. The user can therefore control the...

This paper presents a modeling method for a mobile modular manipulator (MMM) interacting with the environment, which is composed of a mobile base and a 5-DOF manipulator. A tactile sensor, which is installed at the tip of the end-e ector of the mobile manipulator, is to detect the feedback information from the environment. The dynamic equations are formulated and the controller is proposed with...

The problem of the end-point control of long reach manipulator systems, consisting of a dexterous manipulator carried by deployable structures, is addressed. Such systems can be important where a manipulator must perform a task in a difficult to reach location. Power line maintenance systems and the Space Station Freedom’s external maintenance robot are examples. Their supporting deployable str...

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

Analyzing the inverse kinematics theory and its solution method for 5R series manipulator, introducing the establishment of link coordinate system and D_H parameters for 5R series manipulator, studying the algorithm of inverse kinematics solutions based on FPGA controller for 5R manipulator, the system constructs the SOPC system architecture that is based on the Nios II CPU, uses the C program ...

The concept of a medical robot constructed by parallel mechanisms for chest compressions in rescuing a patient is proposed in this paper. In light of the requirements of cardiopulmonary resuscitation (CPR) from medical aspects, a new translational parallel manipulator employing the architecture of DELTA parallel robot is designed, which utilizes an architectural optimization methodology for suc...

A model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental re...

This paper presents the development of an interactive and user-friendly environment for simulation and control of flexible manipulator systems. A constrained planer single-link flexible manipulator is considered. A simulation algorithm characterising the dynamic behaviour of the manipulator is developed using finite difference methods. Several open-loop and closed-loop control strategies are de...