The IRSBot-2 is a two degree-of-freedom translational parallel manipulator dedicated to fast and accurate pick-and-place operations. This paper deals with the determination of the design parameters of the manipulator for the IRSBot-2 to be free of parallel singularity. First, the robot architecture is introduced. The IRSBot-2 is composed of two identical spatial limbs, each one containing a pro...

A planning methodology for nonholonomic mobile manipulators that employs smooth and continuous functions such as polynomials is developed. The method decouples kinematically the manipulator from the platform by constructing admissible paths that drive it to a final configuration and is based on mapping the nonholonomic constraint to a space where it can be trivially satisfied. In addition, the ...

This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...

This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of manipulator combines tripod-like parallel part serial part, represented as two carriages moving in perpendicular directions. provides its end-effector with 3T2R motion pattern, which includes three independent translations rotations. First, study ...

A planning methodology for nonholonomic mobile platforms with manipulators in the presence of obstacles is developed that employs smooth and continuous functions such as polynomials. The method yields admissible input trajectories that drive both the manipulator and the platform to a desired configuration and is based on mapping the nonholonomic constraint to a space where it can be satisfied t...

The energy efficiency of a robotic manipulator is important, particularly when that manipulator is used in conjunction with a mobile robot with limited battery life. In this paper the energy efficiency (in terms of the electrical energy usage) of a spatial three DOF parallel manipulator is compared to a serial manipulator with the same drive motors and a similar workspace. The effects of endeff...

This paper presents a new approach to robust control of a real multilink flexible manipulator via regional pole assignment. We first show that the manipulator system can be approximated by a linear continuous uncertain model with exogenous disturbance input. The uncertainty occurring in an operating space is assumed to be norm-bounded and enter into both the system and control matrices. Then, a...

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...

Abstract To reduce the contour error of end-effector a robotic manipulator during trajectory tracking, dual-mode synchronization predictive control is proposed. First, dynamic model n-degree-of-freedom (n-DOF) discretized by using Taylor expansion method, and mapping relationship between joint in space task constructed. Second, tracking are defined, coupling joints derived through coefficient λ...