This paper proposes a new approach named predictive control of redundant manipulators based on avoidance manipulability to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses...

Prediction markets are increasingly being considered as methods for gathering, summarizing and aggregating diffuse information by governments and businesses alike. Critics worry that these markets are susceptible to price manipulation by agents who wish to distort decision making. We study the effect of manipulators on an experimental market, and find that manipulators are unable to distort pri...

In this paper, adaptive control of multiple mobile manipulators carrying a common object in a cooperative manner with unknown inertia parameters and disturbances has been investigated. firstly, A complete dynamics consisting of the dynamics of mobile manipulators and the object is presented for coordinated multiple mobile manipulators. Then, adaptive control has been designed for compensating p...

A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DO’s, which are designed or analyzed b...

The static balancing of spatial six-degree-of-freedom parallel mechanisms or manipulators with revolute actuators is studied in this paper. Two static balancing methods, namely, using counterweights and using springs, are used. The first method leads to mechanisms with a stationary global center of mass while the second approach leads to mechanisms whose total potential energy (including the el...

this paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (pso) algorithm. pso algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ise) as a performance criteria. in this paper, an improved pso using logic is proposed to increase the convergenc...

This paper briefly presents a gear joint with two degrees of freedom and describes possibility use for manipulators unmanned flying manipulators. A kinematic scheme is developed its characterizations. Its characterization expressed as function parameters external applied torques input speeds on the shaft. General schemes are considered manipulator design operation analysis joint.

Formulation of proper and efficient algorithms for robot kinematics is essential for the analysis and design of serial manipulators. Kinematic modeling of manipulators is most often performed in Cartesian space. However, due to disadvantages of most widely used mathematical constructs for description of orientation such as Euler angles and rotational matrices, a need for unambiguous, compact, s...

Parallel manipulators have been proposed to overcome accuracy problem in the end effector positioning, exhibited by serial manipulators(Stewart, 1965)(Reboulet, 1988)(Merlet, 2000). These parallel robots are primarly used in the applications for which the considered processes require a high degree of accuracy, high speeds or accelerations. Aircraft simulator (Stewart, 1965), machining tools (Ne...