One of the research directions in recent decades is the construction of manipulators with parallel architecture. These mechanisms are closed-loop structures that consist of numerous separate serial chains acting in parallel and connecting the fixed base to the moving platform. Equipped with revolute or prismatic actuators, parallel manipulators have a robust construction and can move bodies of ...

In traditional robot applications the successful execution of the robot task is ensured by reducing the uncertainty in the environment to an absolute minimum. Extending the applications of robots into less controlled environments requires that the robot be able to recognize and respond to unforeseen and non-nominal situations. Mobile robots or manipulators designed for a partially structured en...

According to the notation proposed by the International Federation for the Theory of Mechanisms and Machines IFToMM (Ionescu, 2003); a parallel manipulator is a mechanism where the motion of the end-effector, namely the moving or movable platform, is controlled by means of at least two kinematic chains. If each kinematic chain, also known popularly as limb or leg, has a single active joint, the...

There is a strong dynamic coupling between the base of free-floating space robot and manipulator. In order to reduce interference movement manipulator on robot's base, trajectory needs be optimized. this paper, joint path manipulators optimized by using pseudo-spectral method impact arm base. For robots, parameters identification premise planning. A proposed, which only measure base's angular s...

this paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (dlcc) for mobile-base flexible-link manipulators. in previously proposed methods in the literature of dlcc calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...