workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driv...

In order to successfully perform visual servoing of robot manipulators the control algorithm must account for the physical limitations of the manipulator. These constraints de ne the robot workspace boundary. Any visual servoing control algorithm must avoid this boundary if stability of motion is to be ensured. In this paper, a method is developed by which a desired object path can be interpola...

This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is comp...

Keith L. Doty Professor in Electrical Engineering 515 Weil Hall Machine Intelligence Laboratory Department of Electrical Engineering University of Florida Gainesville, FL 32611 Telephone: (904)392-4951 email: [email protected] email: [email protected] ABSTRACT This paper develops a symbolic method for calculating a manipulator’s singularity manifold in configuration space. The concept of spatial ...

Striving for greater accuracy and greater performance, some machine manufactures are developing parallel structure for the next generation machine. This necessarties that these machines need to be analyzed for the effects of existing singularities inside or boundary of evaluated workspace of indigenously developed 6-DoF SPS (S: Spherical, P: Prismatic) parallel manipulator here in Bhabha atomic...

Analytical methods for identifying the boundary to the workspace of mechanical manipulators and the boundary to voids in the workspace are presented. The determination of parametric equations of surface patches that envelop the workspace of serial manipulators was presented elsewhere and is extended in this paper to an analytical method for void identification. Because of the ability to identif...