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Duc Thien Tran, Tien Dat Nguyen, Minh Khiem Tran and Kyoung Kwan Ahn
A control method for a cable-driven robot in a teleoperation system is proposed using the hardware-in-the-loop (HIL) simulation technique. The main components of the teleoperated robotic system are a haptic device, also called a delta robot, and a cable-...
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Seongil Kwon, Jeongryul Kim, Yonghwan Moon and Keri Kim
Hyper-redundant manipulators are widely used in minimally invasive surgery because they can navigate through narrow passages in passive compliance with the human body. Although their stability and dexterity have been significantly improved over the years...
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Okan Minnetoglu and Erdinc Sahin Conkur
An effective path-planning algorithm in three-dimensional (3D) environments based on a geometric approach for redundant/hyper-redundant manipulators are presented in this paper. The method works within confined spaces cluttered with obstacles in real-tim...
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Ferdinando Vitolo, Andrea Rega, Castrese Di Marino, Agnese Pasquariello, Alessandro Zanella and Stanislao Patalano
Enabling technologies that drive Industry 4.0 and smart factories are pushing in new equipment and system development also to prevent human workers from repetitive and non-ergonomic tasks inside manufacturing plants. One of these tasks is the order-picki...
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Ya?nan Lou, Pengkun Quan, Haoyu Lin, Dongbo Wei and Shichun Di
This paper presents a closed-form inverse kinematics solution for the 2n-degree of freedom (DOF) hyper-redundant serial manipulator with ??
n
identical universal joints (UJs). The proposed algorithm is based on a novel concept named as general spherical...
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Qisong Zhou, Jianzhong Tang, Yong Nie, Zheng Chen and Long Qin
The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF, perfo...
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Seonwoo Kim, Seongseop Yun and Dongjun Shin
Redundant motion, which is possible when robotic manipulators are over-actuated, can be used to control robot arms for a wide range of tasks. One of the best known methods for controlling redundancy is the null space projection, which assigns a priority ...
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Iwona Pajak and Grzegorz Pajak
This paper presents the usage of holonomic mobile humanoid manipulators to carry out autonomous tasks in industrial environments, according to the smart factory concept and the Industry 4.0 philosophy. The problem of transporting lengthy objects, taking ...
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Jinlin Gu, Mingchao Zhu, Lihua Cao, Ang Li, Wenrui Wang and Zhenbang Xu
An uncalibrated visual servo strategy for the on-orbit automatic assembly of an ultra-high-caliber optical system. It is mainly employed to realize the static positioning and dynamic tracking of the desired image features in a harsh space environment whe...
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Xiaohui Yang, Xiaolong Zhang, Shaoping Xu, Yihui Ding, Kun Zhu and Peter Xiaoping Liu
In this paper, a novel constraint-following control for uncertain robot manipulators that is inspired by analytical dynamics is developed. The motion can be regarded as external constraints of the system. However, it is not easy to obtain explicit equati...
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