Previous work on controllability of underactuated serial horizontal planar manipulators mostly focused only a specific number links, whereas this paper considers general N-link case. The main contribution is accessibility and small-time local (STLC) results for serial, horizontal, with one unactuated joint. An (N≥3) manipulator the first joint actuated STLC subset equilibrium points based Sussm...

In this article, the workspace of planar wire-actuated parallel manipulators is studied. The investigation is based on two methods: an analytical method which formulates the workspace envelope by means of Cramer’s rule pertaining to the Jacobian matrix and the null space method from static analysis of manipulator. The workspace envelope method is extended to analyzing redundant planar manipulat...

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

This paper presents a perturbation method for the dynamic simulation of flexible manipulators. In this method the vibrational motion of the manipulator is modeled as a first-order perturbation of the nominal rigid link motion. For that purpose the flexible dynamic model is split into two parts. A rigidified system describes the nominal rigid link motion of the manipulator. A linear system linea...

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth [1]) a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage (Figures 2 & 3). The resulting architecture is hybrid i...

e An important consideration in the use of manipulators in Microgravity environments is the minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it peflonns its tasks. One approach which has been proposed and implemented is to use the redundant degrees of freedom in a kinematically redundant manipulator to plan manipulator ...

In this paper, a novel unsymmetrical five–four bar Planar Parallel Manipulator (PPM) with three Degree-of-Freedoms (DOFs) is proposed, the new manipulator is composed of a double-layer five-bar part with a four-bar part located in between. Targeting for the application of Chinese dish cooking machine, the detailed kinematics analysis for the new PPM is developed. Different from traditional thre...

Space manipulator systems are designed to have lightweight structure and long arms in order to achieve reduction of fuel consumption and large reachable workspaces, respectively. Such systems are subject to link flexibilities. Moreover, space manipulator actuators are usually driven by harmonic gear mechanisms which lead to joint flexibility. These types of flexibility may cause vibrations both...

Mobile manipulator robotic systems (MMRSs) composed of a manipulator and a mobile platform are investigated in this paper. In order for the mobile manipulator robotic system (MMRS) to return to its initial state when the manipulator’s end-effector is requested to execute cyclical tasks, a quadratic program (QP) based repetitive motion planning and feedback control (RMPFC) scheme is proposed and...

Dan Reznik John Canny EECS Dept., UC-Berkeley, CA 94720-1776 USA Abstract We consider the problem of parallel part manipulation, i.e., the simultaneous position and orientation control of one or more parts in a bounded region of the plane. We propose a novel, minimalist device, based on a single horizontallyvibrating at plate. We show that a closed rigid motion of the plate, involving its 3 dof...