This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systemically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end...

The probabilistic modelling of a robot manipulator workspace when combined with a Human-Machine Interface (HMI) allows the extraction and learning of the spatial preferences of the user. Furthermore, the knowledge of the most accessed zones of the robot’s workspace permits the bounding of the time needed for the robot to reach a given position at its workspace. From its early beginning, the use...

Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to lack visibility area, instrument orientation, and depth perception. A tele-operated robot assisted minimally developed enhance a surgeon's hand dexterity accuracy. To perform MIS, surgeon controls slave manipulator via master manipulator, so force feedback motion are required imitate an amount ac...

In this article, we present a control framework for reactive mobile manipulation of robotic systems with a large number of actuated degrees of freedom (DOF). We apply the concept to the humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). As service robotics is expected to be established in households and human environments in the near future, we consider relevant aspects like sa...

Although industrial robots are common, a higher degree of manipulability might be required to expand the applications manipulators in field medicine. Modifying mechanical design robot as per workspace can perceived an optimization problem. Hence, novel spatial manipulator is designed for diagnostic apparatus using different algorithms. Standard Genetic Algorithm (SGA) and GA (Genetic Algorithm)...

This paper presents an algorithm which extends the rapidly-exploring random tree (RRT) framework to deal with change of the task environments. This algorithm called the Retrieval RRT Strategy (RRS) combines a support vector machine (SVM) and RRT and plans the robot motion in the presence of the change of the surrounding environment. This algorithm consists of two levels. At the first level, the...

This work presents a novel vision-force based interface; allowing a local operator to visually specify a path constraint to a remote robot manipulator. By using our interface the operator is able to control a 7-DOF arm with only 2-DOF. Our interface aims to reduce task complexity and operator cognitive load. We illustrate our approach with 2 mock-up examples: 1) Closing a steam valve, 2) Gluing...

The paper deals with the stability of control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on minimal-null space projection and pseudoinverse based projection into the Jacobian null space. We show how the null-space projection affects the stability of the null-space tracking algorithm. The results are verified with the ...

A new approach to improve regulation and path planning visual servoing is proposed in this paper, where fuzzy filters are applied to smooth the control action. In visual servoing the speed of convergence depends on a constant gain, that directly influences the velocity of the robot manipulator joints. This velocity can achieve undesired behavior in regulation visual servoing due to its intrinsi...

The analytical model of a robot dynamics represents an important tool for both the analysis and the synthesis of robot control algorithms. Based on the Euler-Lagrange formalism, the contribution presents a MATLAB-SIMULINK dynamic model of the 3-DOF anthropomorphic robot manipulator with revolute joints. A significant simplification of the model has been accomplished via the concentration of the...