Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

The estimation of the performance characteristics of robot manipulators is crucial in robot application and design. Furthermore, studying the manipulability index for every point within the workspace of any serial manipulator is considered an important problem. Such studies are required for designing trajectories to avoid singular configurations. In this paper, a new method for measuring the ma...

This paper deals with the design and analysis of a two-translation and one-rotation (2T1R) mechanism for a novel cooking robot. Firstly the motions involved in stir-fry, the most representative operation in the cooking processes used in Chinese cuisine, are analyzed in details. Then the featured motions are decomposed into four main movements that are used as a design base for a wok motion mech...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

This paper presents parameter identification and discrete-time adaptive slidingmode controller applied to control the mobile platform Pioneer 3-DX wheeled mobile robot (WMR) with 5-DOF manipulator. The dynamic model for mobile robot with two driving wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been use...

One of the ultimate goals in robotics is to make high-DOF robots work autonomously in unknown changing environments. However, motion planning in completely unknown environments is largely an open problem and poses many challenges. One challenge is that in such an environment, the configuration-time space (CT-space) of a robot is not known beforehand. This paper describes how guaranteed collisio...

In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to manipulator in the lab for sake of experiments. Another situation when dynamical and inertial parameters of a robot are uncertain arises, is the grasping of ...

Abstract: A redundant mobile manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degrees of freedom (DOF) onboard manipulator is investigated in this paper. Redundancy for such a robot is exploited to avoid tipover via online adjusting self-motions. The dynamic model is established and a new tipover criterion is proposed considering inertia, gravity and acceleration. An onl...

Robot manipulators are built to meet certain pre-determined performance requirements. The question of whether the robot will have the desired functionality (e.g. dexterity, accuracy, reliability, speed, etc.) needs to be answered before the robot is actually built. We have developed a software package that can greatly ease the design of a generic 6-DOF manipulator with a spherical wrist. Our pa...

This paper presents a visual servoing of 6 degreeof-freedom (DOF) manipulator based on intersample disturbance rejection with switching scheme. In the controller, multirate intersample disturbance rejection algorithm is utilized, which was proposed by authors for general digital control system with restricted sampling frequency. The proposed feedforward scheme with open-loop estimation and swit...