This paper describes a comparative study of performance between the estimated image Jacobian that come from taking into account the geometry epipolar of a system of two cameras, and the well known analytic image Jacobian that is utilized for most applications in visual servoing. Image Based Visual Servoing architecture is used for controlling a 3 d.o.f. articular system using two cameras in eye...

ABSTRACT In this paper, model-based and model-free image based visual servoing (VS) approaches are implemented on a microassembly workstation, and their regulation and tracking performances are evaluated. A precise image based VS relies on computation of the image jacobian. In the modelbased visual servoing, the image Jacobian is computed via calibrating the optical system. Precisely calibrated...

a systematic way is presented for the construction of multi-step iterative method with frozen jacobian. the inclusion of an auxiliary function is discussed. the presented analysis shows that how to incorporate auxiliary function in a way that we can keep the order of convergence and computational cost of newton multi-step method. the auxiliary function provides us the way to overcome the singul...

How to determine the optimal link length parameters according task requirements and constraints is a key problem in design of anthropomorphic manipulators. Considering multiple performance indexes such as dexterity end stiffness, this article presents method on how maximally improve comprehensive motion manipulators by optimizing lengths. Firstly, joint ranges human arm are obtained through ana...

Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path with a classical approach. This paper presents an algebraic method to check the feasibility of any given trajectories in the workspace. The solutions of the ...

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. The notion of aspect introduced for serial manipulators in [1], and redefined for parallel manipula...

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. The notion of aspect introduced for serial manipulators in [1], and redefined for parallel manipula...

Parallel mechanisms have many features such as high payload, high speed, high acceleration, high rigidity (stiffness), and low inertia and non-accumulating error, these advantages makes it excellent for machine tool applications. In the present study, the analysis of a category of parallel manipulators for the purpose of designing machine tools is developed. First, the solutions of the inverse ...