Purpose Recently, various applications of robotic systems to construction sites have been tried. In this research, a mobile platform-based serial manipulator, the so called ‘mobile manipulator’, is employed for construction tasks such as material handling, beam assembly, welding, and so on. Generally, a serial manipulator has 6 DOF (degrees of freedom). The mobile manipulator suggested in this ...

This paper describes a multi-agent architecture for telerobotics of mobile robot manipulators. The architecture consists of three agents: Supervisory Agent, Mobile Robot Agent and Manipulator Robot Agent. The Supervisory Agent is composed of one Piloting Layer. The two other agents are composed, each one, of two layers (Piloting Layer and Operative Layer). The Piloting Layers are installed on a...

ion as opposed to manipulator level programming where the robot program is in terms of robot states [Lozano-Peréz, 1983]. 2.6.2. Operational Software A robot programming language is the top most layer of the robotic software. The layer of software that actually translates the robot programming language constructs into actuator commands is called the operational software

Robot dynamics is required for simulation, control, analysis of robot motion planners and controllers. There are a number dynamic modelling investigations robots with the different approaches these mostly focus on link flexibility, joint friction or actuator dynamics. In addition to that studies present model without any attached linear torsion springs. this study, two-link rigid manipulator sp...

We propose a system for markerless pose estimation and tracking of a robot manipulator. By tracking the manipulator, we can obtain an accurate estimate of its position and orientation necessary in many object grasping and manipulation tasks. Tracking the manipulator allows also for better collision avoidance. The method is based on the notion of virtual visual servoing. We also propose the use ...

[Introduction] Almost of all needle insertion manipulator for stereotactic neurosurgery use computed tomography (CT) to scan the brain of the patient before and during operation. Currently, we are developing a needle insertion manipulator for magnetic resonance imaging (MRI)-guided neurosurgery. MRI techniques are getting attractive now for the development of interventional MRI therapies and op...

We present several prototypes of wire-driven parallel robots that we have recently designed and which use two different actuation schemes. Two of them have been completed and submitted to extensive tests. These tests have allowed to determine interesting open problems related to kinematics that are presented.

Abstract In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of are confirmed by D-H method, kinematics model established. position direction end deduced using homogeneous transformation method. Monte Carlo method used solve workspace manipulator, MATLAB draw cloud map. Set motion trajectory space planning, throug...

This paper introduces a search-and-rescue robot system used for remote sensing of the underground coal mine environment, which is composed of an operating control unit and two mobile robots with explosion-proof and waterproof function. This robot system is designed to observe and collect information of the coal mine environment through remote control. Thus, this system can be regarded as a mult...

Controlling the pose of a manipulator involves finding the correct configuration of the robot’s elements to move the end effector to a desired position and orientation. In order to find the geometric relationships between the elements of a robot manipulator, it is necessary to define the kinematics of the robot. We present a synthesis of the kinematical model of the pose for this type of robot ...