Abstract Remote center of motion (RCM) constraint has attracted many research interests as one the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it been addressed by studies, few them treated with an independent workspace solution, which means they rely on kinematics robot manipulator. This makes difficult to replicate solutions other manipulators, limits their ...

Based on the reciprocal relationship of twist and wrench in screw theory, the mathematical model for limb of parallel manipulator is established in this paper. According to the motion modes of mobile platform (translation or rotation), we concluded the geometric conditions which the prismatic joint or revolute joint must meet with by analyzing the constraint screw on the platform, which provide...

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 load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

There has been recent, interest in applying hillclimbing or iterative improvement methods to constraint satisfaction problems. An important issue for such methods is the likelihood of encountering a non-solution equilibrium (locally optimal) point. We present analytic techniques for determining the relative densities of solutions and equilibrium points with respect to these algorithms. The anal...

This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...

The paper deals with obstacle avoidance for a mobile manipulator. Mobile manipulator consists of a velocity controlled mobile platform and a torque controlled robot manipulator. Therefore combined torque-velocity control is used. In spite of a combined control the system maintains dynamic compensation. The proposed algorithm enables obstacle avoidance in real time. The platform has integrated u...

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...

The significant advantages of parallel robots over serial manipulators are now well known. However, they still pose a serious challenge when considering their kinematics. This paper covers the state-of-the-art on modeling issues and certified solving of kinematics problems. Parallel manipulator architectures can be divided into two categories: planar and spatial. Firstly, the typical planar par...

The efficient utilization of the motion capabilities of mobile manipulators, Le., manipulators mounted on mobile platforms, requires the resolution of the kinematically redundant system formed by the addition of the degrees of freedom (d.0.f.) of the platform to those of the manipulator. At the velocity level, the linearized Jacobian equation for such a redundant system represents an underspeci...

In this paper we develop framework for PID stabilization of a robot manipulator when using an object independently or in collaboration with a human arm. Inboth applications, the manipulator is equipped with a wrist sensor represented by an impedance. A second order manipulator transfer function along each coordinate direction is assumed. The aim of the paper is to design a PID controller when m...