This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-time locally controllable on an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However, some paths are “preferred” by the dynamics of the manipulator in th...

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...

This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the op...

In this article the description of some types of spatial gear constraints (spur gears, bevel gears, etc.) in absolute coordinates is considered. Instead of the numerical expensive calculation of constraint Jacobian matrix we propose to use the transformed Jacobian matrix, which can be calculated much more efficiently. The proposed methods of description of gear constraints were implemented for ...

The CATRASYS (Cassino Tracking System) measuring system is a wire tracking system used for determination of poses of objects in the space. It is well modeled as a 3-2-1 parallel manipulator. Pose determination is done by solving the Direct Kinematics, which relies on geometric parameters and measurements, both subject to uncertainties. In this paper an uncertainty model based on intervals is co...

Common robotic tracking tasks consist of motions along predefined paths. The design of time-optimal path-constrained trajectories for robotic applications is discussed in this paper. To increase industrial applicability, the proposed method accounts for robot kinematics together with actuator velocity, acceleration and jerk limits instead of accounting for the generally more complex dynamic equ...

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact for...

This paper addresses the problem of formulation of a unified dynamic model for sundry robotic manipulator systems derived from the first principle of mechanics instead of the existing formulation based on linear separability principle. It provides a systematic derivation, evaluation and subsequent conceptual interpretation of manipulator dynamics model. Further, it analyzes the generality of th...