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This paper investigates the problem of controlling flexible-joint underactuated manipulators in task space. A lower number of actuators than degrees of freedom alongside flexibility of joints make this mission a challenging task. Problems may arise such as poor tracking performance due to structured and unstructured uncertainties. Here, a controller with two internal loops comprising a free dynamic...
Regarding robot interaction with moving objects and the necessity for robot controller to react in a timely manner having the objects current position, finding an efficient positioning method has always been a challenge. As ball and plate system is considered to be a standard experimental system in control laboratories. The system is consisted of the following pieces: a horizontal plate which gets...
The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure,...
Effective dynamics modeling and control of continuum robots have been a challenge for almost a couple of decades. The most important modeling challenge is to provide a model with good precision, which can be solved numerically in a reasonable time. Specifically, it is valuable if an accurate model can be solved in real-time, in order to be used in real-time control implementations. In this paper,...
In this study, dynamics and stability of a novel hybrid serial-parallel mobile robot is elaborated. This robot compounds of a differentially-driven wheeled platform, a novel spatial parallel mechanism, and a serial manipulator arm. Using a moving parallel mechanism as the base of a serial manipulator makes the system capable to carry heavy payloads, and prevents tipping over of the system. In those...
In this paper, kinematics analysis and dynamic modeling of a novel spatial parallel robot is elaborated. The proposed mechanism is to be exploited in a compounded serial-parallel mobile robotic system to accomplish stabilized heavy object manipulation by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to acquire a suitable maneuverability...
Flexible members such as solar panels of space robotic systems during a maneuver may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be prevented. In this paper, a new control algorithm for an object...
Dynamics and control of a space robotic system with flexible members during an object manipulation task is studied here. Flexible members such as solar panels of space free flying robotic systems and their flexible joints during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn...
Heavy object manipulation by wheeled mobile manipulators may lead to serious consequences such as postural instability, and this necessitates dynamically stable planning based on systematic analysis to better predict and eliminate the possibility of toppling down. In the present study, stable motion planning is investigated for wheeled mobile manipulators during heavy object manipulation tasks. It...
In this study, kinematics design and workspace analysis of a novel spatial parallel mechanism is elaborated. The proposed mechanism is to be exploited in a hybrid serial-parallel mobile robot to fulfill stable motion of the robotic system when handling heavy objects by a serial manipulator mounted on the parallel mechanism. In fact, this parallel mechanism has been designed to obtain an appropriate...
An optimal grasp planning procedure for cooperative object manipulation by multiple arms, based on genetic algorithm and using Multiple Aspect Grasp (MAG) index is presented in this paper. The MAG index takes into account three main aspects of grasp planning such as, the position of contact points, the kinematic aspects of cooperative manipulators, and the kinetic aspects of manipulators and the manipulated...
Theoretical analysis and implementation of autonomous staircase detection and stair climbing algorithms on a novel rescue mobile robot are presented in this paper. The main goals are to find the staircase during navigation and to implement a fast, safe and smooth autonomous stair climbing algorithm. Silver is used here as the experimental platform. This tracked mobile robot is a tele-operative rescue...
A suspended wheeled mobile robot (SWMR) that consists of one or more manipulators mounted on a mobile suspended base is expected to pass through various environmental conditions such as uneven surfaces. In this study, first a general systematic procedure for dynamics modeling of such complicated systems is presented based on iterative Newton-Euler's formulation. The presented approach can provide...
Due to excessive maneuverability, mobile manipulators which consist of one or more manipulators mounted on a mobile base have attracted much of interest. Tipping-over is one of the most important problems in such systems especially when manipulating heavy objects, also during maneuvers in unknown environment or in rugged terrains. Therefore, estimation and evaluation of dynamic stability with appropriate...
The Multiple Impedance Control (MIC) is a Model-Based algorithm that enforces a designated impedance on all cooperating manipulators, and the manipulated object itself. Although the MIC has been appeared as an efficient algorithm, but to apply model-based control laws the system dynamics has to be modeled. Furthermore, computation of the system dynamics even if perfectly known, may require considerable...
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