An important step during the design of a parallel manipulator is the determination of its workspace. For a 6 d.o.f. parallel manipulator workspace limitations are due to the bounded range of their linear actuators, mechanical limits on their passive joints and links interference. The computation of the workspace of a parallel manipulator is far more complex than for serial link manipulator as i...

A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mo...

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...

Autonomous robot calibration is defined as the process of determining a robot’s model by using only its internal sensors. It is shown that autonomous calibration of a manipulator and stereo camera system is possible. The proposed autonomous calibration algorithm may obtain the manipulator kinematic parameters, external kinematic camera parameters, and internal camera parameters. To do this, onl...

A rapidly deployable fault tolerant manipulator system consists of modular hardware and support software that allow the user to quickly configure and deploy a fault tolerant manipulator that is custom-tailored for a given task. The main focus of this paper is on the Task Based Design component of such a system; that is, the determination of the optimal manipulator configuration, its base positi...

We consider the kinematics of a mobile manipulator that consists of a non-holonomic (or holonomic) mobile platform and a holonomic manipulator mounted atop of the platform. At any fixed time instant and with fixed initial state of the platform these kinematics are viewed as a map from a Hilbert space of controls and manipulator’s joint positions into a taskspace of the mobile manipulator, and c...

This paper details the construction of a Robotic Arm or manipulator with SCARA configuration and having DC Motors at its joints. There are two revolute joints present in the manipulator arm which helps the manipulator to be in RRP configuration. The DC Motors are given a pulse for a definite duration according to which they rotate by a certain angle.

This paper describes the design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator. The purpose of the control system is to provide autonomous/teleoperative control of the serpentine robotic manipulator, as well as full robotic control during operation of the manipulator within an enclosed environment such as an undergro...

This paper demonstrates dexterity optimization of a three degrees of freedom (3 DOF) Delta manipulator. The parallel manipulator consists of three identical chains and is able to move on all three translational axes. In order to optimize the manipulator in term of dexterity, a floating point Genetic Algorithm (GA) global search method was applied. This algorithm intends to maximize the Global C...

Mobile manipulator performance measurement research is relatively minimal as compared to that of robot arms. Measurement methods, such as optical tracking systems, are useful for measuring the performance of mobile manipulators, although at a much higher relative cost as compared to artifacts. The concept of using test artifacts demonstrates to potential manufacturers and users of mobile manipu...