This paper describes a new structure of a six-DOF parallel robot. First, a known planar three-DOF double-triangular structure is modified by replacing the stationary triangle with a circle. It increases the work envelope considerably especially when rotational motions are required. The ability for unlimited rotational motion allows extending the structure into six-DOF by using two sets of stati...

The major control problems for robot debuning mainly arise from uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired r...

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

In this work the problem of remote calibration and trajectory replanning for a subsea robotic manipulator is considered. Because the trajectory planning is normally done in a structured environment, several uncertainties arise when the robot is placed on the seabed and these need to be compensated for to guarantee that the task specifications are fulfilled. We address the particular problem of ...

It is essential to know the dynamic parameters of the robot for its precise control and simulation. Philosophy of identification is based on finding the model using its input-output data. The identification equation of the manipulator is derived from Newton-Euler equations, using manipulator kinematic, i.e., geometric parameters and joint values as input and joint torque data as output. In this...

there are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. in this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both newton-euler and lagrange-euler methods. the presented models are simulated for a mitsubishi pa10-6ce robotic manipulator characteristics mounte...

This paper is devoted to the application of Artificial Neural Networks (ANN) to the solution of the Inverse Kinematics (IK) problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK solution. Given the desired trajectory of the end effector of the manipulator...

The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. Both forward and inverse kinematics solutions for the TR 4000 educational robot arm are presented. The closed form solution of the inverse kinematics problem is of utmost importance in controlling robotic manipulator. In this paper, a closed form solution to the inverse kinematics...