Currently, a mechanical arm or manipulator needs to be programmed by humans in advance to define its motion trajectory before practical use. However, the programming is tedious and high-cost, which renders such manipulators unable to perform various...
Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pi...
With the continuous development of modern robotics technology, in order to overcome the obstacles to the ability to complete tasks due to the fixed structure of the robot itself, to realize the reconfigurable purpose of the manipulator, it can be ass...
This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm that integrates a gripper and an elastic linear force senso...
The addition of telescopic joints will enhance the manipulator’s motion dexterity but increase the motion complexity, thereby potentially reducing the efficiency of motion planning. To address the issue, a manipulability priority principle is u...
In Aerial Manipulation, the motion of the robotic arm can cause unwanted movements of the flying base affecting the trajectory tracking capability. A possible solution to reduce these disturbances is to use a free revolute joint between the flying ba...
Needle manipulation with the guidance of magnetic resonance imaging (MRI) plays a key role in minimally invasive procedures such as biopsy and ablation. However, the confined bore and strong magnetic field of the MR environment pose great challenges...
The mechanism parameters of the manipulator not only have a great influence on the size of the working space but also affect flexible performance distribution. Aimed at obtaining a 6 DOF modular manipulator, mechanism parameters were optimized in ord...
Conservation efforts in cliff habitats pose unique challenges due to their inaccessibility, limiting the study and protection of rare endemic species. This project introduces a novel approach utilizing aerial manipulation through a suspended manipula...
To solve the problems of poor working conditions and high labor intensity for artificially pruning jujube trees, a pruning scheme using a manipulator is put forward in the present paper. A pruning manipulator with five degrees of freedom for jujube t...
This paper focuses on motion planning for mobile manipulators, which includes planning for both the mobile base and the manipulator. A hierarchical motion planner is proposed that allows the manipulator to change its configuration autonomously in rea...
Mature broccoli has large flower balls and thick stems. Therefore, manual broccoli picking is laborious and energy-consuming. However, the big spheroid vegetable-picking manipulator has a complex structure and poor enveloping effect and easily causes...
In this paper, a novel methodology for estimating the parameters of robotic manipulator systems is proposed. It can be seen that, for the purpose of parameter estimation, the input torque to each joint motor is designed as a linear combination of sin...
A novel method for supervisory control of multilink manipulators mounted on underwater vehicles is considered. This method is designed to significantly increase the level of automation of manipulative operations, by the building of motion trajectorie...
In some environments where manual work cannot be carried out, snake manipulators are instead used to improve the level of automatic work and ensure personal safety. However, the structure of the snake manipulator is diverse, which renders it difficul...
Recent efforts in on-orbit servicing, manufacturing, and debris removal have accentuated some of the challenges related to close-proximity space manipulation. Orbital debris threatens future space endeavors driving active removal missions. Additional...
In this paper, the conceptual design, modeling, and simulation are proposed for an octorotor UAV with a manipulator arm. The conceptual design of the octorotor UAV with a manipulator arm is developed, and for the study and analysis, the design is imp...
In this paper, a goniometer-type specimen stage with a linear actuation mechanism mounted on a rotation mechanism is introduced. The linear actuation mechanism was modeled as a spatial parallel manipulator consisting of a moving body, three linear ac...
A virtual flight test is the process of flying an aircraft model inside a wind tunnel in a manner that replicates free-flight. In this paper, a 3-DOF aircraft-manipulator system is proposed that can be used for longitudinal dynamics virtual flight te...
There are several ubiquitous kinematic structures that are used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers are experimenting with task-based mechanism synthesis that could provide higher eff...
For a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play...
In gynecologic surgery, a uterine manipulator is one of the instruments used to perform the laparoscopy. Throughout the past decade, a number of robotic technology applications used for uterine manipulation during surgery have been designed with the...
Manipulator robots hold significant importance for the development of intelligent manufacturing and industrial transformation. Manufacturers and users are increasingly focusing on fault diagnosis for manipulator robots. The voltage, current, speed, t...
Annual cane pruning of grape vineyards is a time-consuming and labor-intensive job, but no mechanized or automatic way has been developed to do it yet. Robotic pruning can be a perfect alternative to human labor. This article proposes a systematic se...
In this paper, a four-degree-of-freedom camellia-pollen-picking manipulator is proposed and designed. It can solve the problem of having no mechanized equipment for picking camellia pollen in agricultural machinery as the labor intensity of manual po...
Flexible production is a key element in modern industrial manufacturing. Autonomous mobile manipulators can be used to execute various tasks: from logistics, to pick and place, or handling. Therefore, autonomous robotic systems can even increase the...
The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and an...
In recent years, the study of robotic systems for agriculture, a modern research field often shortened as “precision agriculture”, has become highly relevant, especially for those repetitive actions that can be automated thanks to innovat...
In order to ensure canopy area coverage with the most compact mechanical configuration possible, this paper proposes a configuration optimization design method of dual-manipulator to meet the research and development needs of an apple-efficient harve...
Robot hands play an important role in the interaction between robots and the environment, and the precision and complexity of their tasks in work production are becoming higher and higher. However, because the traditional manipulator has too many dri...
In recent years, hydraulic manipulators have been more and more widely used in the field of industrial automation because of their high power-to-weight ratio. Compared with autonomous control, bilateral teleoperation is a more reliable way to operate...
This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of the manipulator combines a tripod-like parallel part and a serial part, represented as two carriages...
Flexible manipulator systems in specific applications such as space exploration, nuclear waste treatment, medical applications, etc., often have characteristics superior to conventional rigid manipulator systems. However, their elasticity and complex...
This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes...
Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately wil...
For a 2UPR-RPU over-constrained parallel manipulator, some geometric errors result in internal forces and deformations, which limit the improvement of the pose accuracy of the moving platform and shorten the service life of the manipulator. Analysis...
In this paper, a new approach involving the use of a mobile manipulator to assist humans with mobility impairments to walk is proposed. First, in order to achieve flexible interaction between humans and mobile manipulators, we propose a variable admi...
This work describes the development of a tool for the teleoperation of robots. The tool is developed in a virtual environment using the Unity graphics engine. For the development of the application, a kinematic model and a dynamic model of a mobile m...
This article presents an underwater cable-driven manipulator (UCDM) with a buoyancy regulation system (BRS), which is controlled by a fluid-power system. The manipulator consists of five sections, and each section is embedded with a buoyancy adjustme...
Topping reduces the growing point at the top of cotton plants. This process enables the plant to allocate more energy and nutrients to fruit growth, thereby enhancing both the quantity and quality of the fruit. Current cotton-topping machinery often...
The research on the remote control of manipulators based on flexible sensor technology is gradually extensive. In order to achieve stable, accurate, and efficient control of the manipulator, it is necessary to reasonably design the structure of the s...
Robot manipulator trajectory planning is one of the core robot technologies, and the design of controllers can improve the trajectory accuracy of manipulators. However, most of the controllers designed at this stage have not been able to effectively...
This paper introduces a reactive self-collision avoidance algorithm for differentially driven mobile manipulators. The proposed method mainly focuses on self-collision between a manipulator and the mobile robot. We introduce the concept of a distance...
An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a comp...
Background: The application of continuum manipulators as assistive robots is discussed and tested through the use of Bendy ARM, a simple manually teleoperated tendon driven continuum manipulator prototype. Methods: Two rounds of user testing were per...
Aerial manipulator systems possess active operational capability, and by incorporating various sensors, the systems’ autonomy is further enhanced. In this paper, we address the challenge of accurate positioning between an aerial manipulator and...
The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them and how to cope with unknown disturbances introduced by manipulation. This paper present...
A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator,...
In this work, a novel LAMDA (Learning Algorithm for Multivariable Data Analysis) control strategy for trajectory tracking for an aerial manipulator is presented. Four control strategies are developed: Kinematic, Inverse Dynamics, Sliding Mode (SMC),...
To address the problems of mismatch, poor flexibility and low accuracy of ordinary manipulators in the complex special deflagration work process, this paper proposes a new five-degree-of-freedom (5-DOF) folding deflagration manipulator. Firstly, the...
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