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Hierarchy Control of Dual-Arm Concentric Tube Continuum Robots with Different Redundancy Resolution Techniques
Robot-assisted Single Port (SP) surgical systems have become popular in laparoscopy, consisting of multiple flexible instruments and an endoscope...
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Flight Controls, High-Lift Systems, and Their Actuation
This chapter describes how aircraft flight control is achieved. It includes information on the evolution of flight control actuation and how...
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Remote Traffic Light System to Support Traffic Light Maintenance
IoTrafficLight project aims to solve problems that weaken road traffic in urban areas through the development of an improved light scatterer and a...
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Design, modeling, and evaluation of parallel continuum robots: A survey
Parallel continuum robots (PCRs) have attracted increasing attention in the robotics community due to their simplicity in structure, inherence with...
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Intelligent Control of a Master-Slave based Robotic Surgical System
A master-slave (M-S) based free environment (in-air) on-line trajectory control of a redundant surgical robot is presented in this work which can...
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Hydrogel and Machine Learning for Soft Robots’ Sensing and Signal Processing: A Review
The soft robotics field is on the rise. The highly adaptive robots provide the opportunity to bridge the gap between machines and people. However,...
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Dynamic modeling and trajectory tracking control method of segmented linkage cable-driven hyper-redundant robot
The dynamics modeling and trajectory optimization of a segmented linkage cable-driven hyper-redundant robot (SL-CDHRR) become more challenging, since...
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Updated Minimum Weighted Norm Based Electromagnetic Field Control for a Magnetically Actuated Microrobot
Herein, we present a novel electromagnetic field control methodology against a heating problem that can perform both desired actuation and lower...
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Distributed Electro-Mechanical Coupling Effects in a Dielectric Elastomer Membrane Array
BackgroundDielectric elastomer (DE) transducers permit to effectively develop large-deformation, energy-efficient, and compliant mechatronic devices....
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Kane Formulation Based Dynamic Modelling and Neural Network Adaptive Sliding Mode Control for a Redundantly Actuated Parallel Robot
The research object of this paper is a redundantly actuated parallel robot named RAParM-I. First, Kane formulation together with Lagrange multiplier...
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Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer
As rigid robots suffer from the higher inertia of their rigid links, cable-driven parallel robots (CDPRs) are more suitable for large-scale...
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Tool orientation and redundancy integrated planning method constrained by stiffness for robotic machining of freeform surfaces
Since industrial robots have redundant degree-of-freedom (DOF), both tool orientation and redundant angle have to be well planned to determine a...
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Design and analysis of a class of redundant collaborative manipulators with 2D large rotational angles
The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers. This paper focuses...
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Development of Novel Hybrid Hand Formed by a Parallel Wrist and Three Soft-flexible Fingers
A prototype of a novel hybrid hand is developed by combing a parallel wrist with three flexible fingers. Its dynamics model is established, its...
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Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace
This paper focuses on planar manipulators built upon stacking a series of tensegrity X-joints. The manipulators are actuated with four tendons, have...
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Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint
This paper proposes a new two-degrees-of-freedom (dof) cable-actuated mechanism which can be utilized for lightweight variable-stiffness...
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Large Deflection Model for Spatial Flexure Elements Supporting Helix Compliant Stages
This article presents a large deflection model of spatial screw flexure elements, which can directly convert translational actuation motions to...
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A Geometric Approach to Task-Specific Cartesian Stiffness Sha**
Controlling the exact Cartesian stiffness values of a robot end-effector (EE) is troublesome because of difficulties associated with estimating the...
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Accuracy analysis of a parallel positioning mechanism with actuation redundancy
A forward accuracy analysis method based on Lie-group theory and screw theory is proposed to analyze the pose error of parallel mechanisms with...
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Design and analysis of full-configuration decoupled actuating reconfigurable parallel spherical joint
Different from the existing methods by using singularity of parallel mechanism (PM) to synthesize reconfigurable PMs, a kind of actuating...