Abstract. This paper presents a new teleoperation scheme for mobile manipulation systems. A virtual spring connects a master and slave system where local force feedback on the slave system compensates for the dynamics of the mobile manipulator. This scheme is robust in the presence of time delays and disturbances and provides good tele-presence. The slave manipulator is mounted on a mobile base...

This article presents an application of the first order sliding mode control in order to damp the mechanical vibrations of a flexible one-link manipulator using piezoceramic actuators. The flexible manipulator, seen as a multiple inputs multiple outputs system is decoupled using state feedback scheme. The model of the system is deduced using the finite element method, and its response to a cont...

In the paper the dynamic properties of the internal motion of redundant manipulators are considered. The motion is decoupled into the end-effector motion and the internal motion. Next, the dynamic model of a redundant manipulator is derived. A special attention is given to the inertial properties of the system in the space where internal motion is taking place; we define a null space effective ...

In this paper, the mathematical model of the posture inverse kinematics is established. According to the structure of 2DOF parallel manipulator, the simulation model of mechanism is built using the Matlab/SimMechanics. The kinematics simulation of the parallel manipulator is obtained and confirmed correct. With the Virtual Reality Toolbox, the virtual reality of the parallel manipulator is carr...

In this paper a performance analysis is presented for a cable-suspended parallel manipulator. Experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. The loadcarrying capacity during a given trajectory is obtained. This computational technique is tested on a typical planar cable suspended manipulator. The experime...

Article history: Received 28 September 2008 Accepted 7 April 2009

This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai’s manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that...

Articolul stabileşte relaţii matriceale pentru cinematica şi dinamica robotului paralel Orthoglide prevăzut cu trei acţionori prismatici concurenţi. Aceştia sunt aranjaţi în raport cu sistemul cartezian de coordonate astfel încât direcţiile lor să fie normale unele faţă de celelalte. Trei lanţuri cinematice identice, conectate la platforma mobilă, sunt localizate în trei plane perpendiculare un...

Fully automating the assembly of laser systems puts high demands on the accuracy, but alike on the flexibility and adaptivity of the assembly system. In this paper a concept for a flexible robot-based precision assembly is introduced. This concept is based on a modular 6-axis alignment tool which has been designed as a hybrid serial-parallel manipulator with flexures for all revolute and spheri...