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Parallel manipulator

About: Parallel manipulator is a(n) research topic. Over the lifetime, 10330 publication(s) have been published within this topic receiving 138634 citation(s).
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01 Jan 1986-
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Abstract: 1. Introduction. 2. Spatial Descriptions and Transformations. 3. Manipulator Kinematics. 4. Inverse Manipulator Kinematics. 5. Jacobians: Velocities and Static Forces. 6. Manipulator Dynamics. 7. Trajectory Generation. 8. Manipulator Mechanism Design. 9. Linear Control of Manipulators. 10. Nonlinear Control of Manipulators. 11. Force Control of Manipulators. 12. Robot Programming Languages and Systems. 13. Off-Line Programming Systems.

5,891 citations

Journal ArticleDOI
01 Jun 1981-
TL;DR: A theory of force control based on formal models of the manipulator and the task geometry is presented, isolating the programmer from the fundamental complexity of low-level manipulator control.
Abstract: Compliant motion of a manipulator occurs when the manipulator position is constrained by the task geometry. Compliant motion may be produced either by a passive mechanical compliance built in to the manipulator, or by an active compliance implemented in the control servo loop. The second method, called force control, is the subject of this paper. In particular a theory of force control based on formal models of the manipulator and the task geometry is presented. The ideal effector is used to model the manipulator, the ideal surface is used to model the task geometry, and the goal trajectory is used to model the desired behavior of the manipulator. Models are also defined for position control and force control, providing a precise semantics for compliant motion primitives in manipulation programming languages. The formalism serves as a simple interface between the manipulator and the programmer, isolating the programmer from the fundamental complexity of low-level manipulator control. A method of automatically synthesizing a restricted class of manipulator programs based on the formal models of task and goal trajectory is also provided by the formalism.

1,519 citations

Journal ArticleDOI
Abstract: Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking (or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, coupled manipulator dynamics. Trajectory planning usually determines the timing of manipulator position and velocity without considering its dynamics. Consequently, the simplicity obtained from the division comes at the expense of efficiency in utilizing robot's capabilities. To remove at least partially this inefficiency, this paper considers a solution to the problem of moving a manipulator in minimum time along a specified geometric path subject to input torque/force constraints. We first describe the manipulator dynamics using parametric functions which represent geometric path constraints to be honored for collision avoidance as well as task requirements. Second, constraints on input torques/ forces are converted to those on the parameters. Third, the minimum-time solution is deduced in an algorithm form using phase-plane techniques. Finally, numerical examples are presented to demonstrate utility of the trajectory planning method developed.

971 citations

Journal ArticleDOI
Abstract: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte

797 citations

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Topic's top 5 most impactful authors

Damien Chablat

114 papers, 1.9K citations

Clément Gosselin

98 papers, 5.1K citations

Jean-Pierre Merlet

93 papers, 3.8K citations

Stéphane Caro

88 papers, 1.2K citations

Philippe Wenger

71 papers, 1.5K citations