Robot manipulators are growing more widely employed in the retail market, mostly for warehousing, but automating them in-store logistics processes is still a difficult task. Supermarkets and large stores face many challenges: shortages, handling, placement of single product on shelves. Various issues needed to be considered develop robot which can manipulate products different sizes, shapes, we...

This paper analyzes the singularities of a three degree of freedom (DOF) spatial parallel manipulators utilizing line geometry and linear complex approximation. First, the 6 · 6 matrix, mapping external wrenches acting on the moving platform to internal forces/moments at the manipulator s joints, is derived as a set of six governing lines. By analyzing the dependencies of these lines, all singu...

This article describes the design, validation, and application of a dynamic biomechanical model that assesses and monitors trajectory, position, orientation, force, and torque generated by upper-limb (UL) movement during robot-assisted therapy. The model consists of two links that represent the upper arm and forearm, with 5 degrees of freedom (DOF) for the shoulder and elbow joints. The model i...

In this paper, a potential-based path-planning algorithm for a high DOF robot manipulator is proposed. Unlike some c-space-based approaches, which often require expensive preprocessing for the construction of the c-space, the proposed approach uses the workspace information directly. The approach computes, similar to that done in electrostatics, repulsive force and torque between objects in the...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...

This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with 2-DOF (degree freedom) Cartesian base (XY–axes) that supports 1-DOF compliant joint arm integrates gripper and elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy end effector respect to robotic arms revolute joints, where each coordinate position depends on ...

Industrial robots play a vital role in automation however only little effort are taken for the application of robots in machining work such as Grinding, Cutting, Milling, Drilling, Polishing etc. Robot parallel manipulators have high stiffness, rigidity and accuracy, which cannot be provided by conventional serial robot manipulators. The aim of this paper is to perform the modeling and the work...

− This paper discusses dynamic visual servoing and proposes a position-based approach to visual servo control of robotic manipulators. Several dynamic visual servoing control architectures used for position-based are addressed in this paper, in order to motivate the proposed approach. In position-based visual servoing, the features used to control the robot manipulator, actual pose of the objec...

A freeying space robot with a 6 DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates(3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We ca...