Medication delivery robots, as a type of service are becoming increasingly important in the field helping elderly and disabled. Conventional drug robots focus on mobility often lack ability to pick place drugs independently. Based this phenomenon, new medication robot structure based 3-DOF manipulator is designed paper. According motion process, modeled simulated. Meanwhile, influence different...

Abstract This paper focuses on investigating a parallel camera stabilizing manipulator with three angular degrees of freedom controlled by linear actuators. An experimental setup is designed and manufactured to actively isolate the host vehicle's disturbing motions. The kinematic analysis combined controller used disturbance rejection coming from base platform. Two inertia measurement units (IM...

In the last several years, mobile manipulators have been increasingly utilized and developed from a theoretical viewpoint as well as for practical applications in space, underwater, construction and service environments. The work presented in this chapter deals with the problem of intelligent behaviour modelling and control of a mobile manipulator for the purpose of simultaneously following des...

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered as a redundant 3-dof manipulator, and an algorithm is presented to solve the redundancy by using the joint velocities in the null space of the jacobian matrix. The internal motion of the assisted man...

In this paper, an adaptive synchronization sliding mode control is proposed for a dual-arm robot against parameter variations, external disturbance, and unknown directions. The designed by using cross-coupling error to guarantee the position of manipulator. objective synchronize movement both arms beside trajectory tracking issue. order manage lumped uncertainties caused directions, extended st...

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...

In the EU-funded CROPS (Clever Robots for Crops) project high tech robots are developed for site-specific spraying and selective harvesting of fruit and fruit vegetables. The harvesting robots are being designed to harvest high-value crops such as greenhouse vegetables, fruits in orchards and grapes for premium wines. The CROPS robots are also developed for canopy spraying in orchards and for p...

There are many design factors and choices when mounting a vision system for robot control. Such factors may include the kinematic and dynamic characteristics in the robot’s degrees of freedom (DOF), which determine at what velocities and fields-of-view a camera can achieve. Another factor is that additional motion components (such as pan-tilt units) are often mounted on a robot and introduce sy...

This paper introduces a computationally efficient control scheme for safe human–robot interaction. The method relies on the Explicit Reference Governor (ERG) formalism to enforce input and state constraints in real-time, thus ensuring that robot can safely operate close proximity humans. resulting constrained steer arm desired end-effector pose (or steady-state admissible approximation thereof)...