We present a novel approach to mobile object manipulation for service in indoor environments. Current research in service robotics focus on single robots able to move, manipulate objects, and transport them to various locations. Our approach differs by taking a collective robotics perspective: different types of small robots perform different tasks and exploit complementarity by collaborating t...

The overwhelming complexity of the deburring process and imprecise knowledge about robot manipulators leads to a certain control problem. In this paper, a new design of hybrid position/force control of robot manipulators via adaptive fuzzy control approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine ...

The focus of the research community in soft robotic field has been on developing innovative materials, but design control strategies applicable to these platforms is still an open challenge. This due their highly nonlinear dynamics which difficult model and degree stochasticity they often incorporate. Data-driven controllers based neural networks have recently explored as a viable solution be e...

A robot satellite with dual-manipulators is one of the choices to operate payload in orbit, for example, to capture or deorbit damaged satellites. We have constructed a ground experiment simulator system including two 7-degree-of-freedom (DOF) manipulators as a chaser satellite model and floating testbeds on a flat floor as target satellite models. This system is a tele-operation ground experim...

Vibration is one of the most important resources of error in motion of tip of flexible robot manipulators. Although much work has been done in the design of controllers for flexible manipulators to follow a specified tip trajectory, it has been done a little work in trajectory planning itself. For redundant robot manipulators, trajectory planning can be accomplished with the aim of optimizing s...

─ A joystick-based interactive motion control approach is proposed for modular reconfigurable manipulators. Based on the product-of-exponentials (POE) formula, the velocity models as well as the incremental displacement models have been formulated for both serial manipulators (with arbitrary configurations and DOFs) and a class of three-legged parallel manipulators. As a result, two different c...

In this paper, the four-precision-point geometric design problem of serial-link robot manipulators with three revolute joints is solved using a polynomial continuation method. At each precision point, the end-effector spatial locations are defined. The dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator’s end-effector will be able to reach these fou...

Failure mode and reliability analysis is particularly important for robot manipulators to be deployed in remote environments, where inspection and repair are di cult, and reliability is of prime importance. This is particularly true for manipulators involved in hazardous waste management operations, where failure could be both expensive and highly dangerous. In this paper, we describe a Fault T...

The significance of singularities in the design and control of robot manipulators is well known and there is an extensive literature on the determination and analysis of singularities for a wide variety of serial and parallel manipulators—indeed such an analysis is an essential part of manipulator design. Singularity theory provides methodologies for a deeper analysis with the aim of classifyin...

Coordinating two robot manipulators to handle flexible materials has a wide range of applications in the manufacturing industry. However, this problem has not been seriously addressed until recently. The two robot manipulators have to follow complicated trajectories to maintain a minimum interaction force with the flexible beam. These trajectories are very complicated and not suitable for real ...