Manipulability-Based Design and Analysis of a Hybrid Manipulator for Highway Applications

REFERENCES

• Arai , T. , Cleary , K. , Nakamura , T. , Adachi , H. , Homma , K. ( 1990 ). Design, analysis and construction of a prototype parallel link manipulator . In Proceedings of IROS , 205 – 212 .
   Google Scholar
• Baillieul , J. ( 1985 ). Kinematic programming alternatives for redundant manipulators . In IEEE International Conference on Robotics and Automation , 722 – 728 .
   Google Scholar
• Chae , S. , Chung , C. , Yang , H. , Choi , Y. , Lee , S. ( 1998 ). Adaptive control of a 6 D.O.F. Stewart platform based machine tool . In 4th Intl. Conference on Motion and Vibration Control , Zurich , Switzerland 461 – 466 .
   Google Scholar
• Cheng , H. H. , Lee , J. J. , Penkar , R. ( 1995 ). Kinematic analysis of a hybrid serial-and-parallel-driven redundant industrial manipulator . International Journal of Robotics and Automation 10 ( 4 ): 159 – 166 . [CSA]
   Web of Science ®Google Scholar
• Chung , C. Y. , Lee , B. H. , Kim , M. S. , Lee , C. W. ( 2000 ). Torque optimizing control with singularity-robustness for kinematically redundant robots . Journal of Intelligent and Robotic Systems 28 ( 3 ): 231 – 258 . [CROSSREF]
   Google Scholar
• Feng , X. , Baker , T. L. , Velinsky , S. A. ( 1998 ). Long reach robotic manipulator for advanced highway maintenance and construction equipment . In ROMANSY 12 - Theory and Practice of Robots and Manipulators, Proceedings of the Twelfth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators , 309 – 316 .
   Google Scholar
• Galicki , M. ( 2000 ). Time-optimal controls of kinematically redundant manipulators with geometric constraints . IEEE Transactions on Robotics and Automation 16 ( 1 ): 89 – 93 . [CROSSREF]
   Google Scholar
• Gosselin , C. , Angeles , J. ( 1991 ). A global performance index for the kinematic optimization of robotic manipulators . ASME Journal of Mechanical Design 113 ( 3 ): 220 – 226 .
   Web of Science ®Google Scholar
• Hanafusa , H. , Yoshikawa , T. , Nakamura , Y. ( 1981 ). Analysis and control of articulated robot arms with redundancy . In Proc. 8th Triennial World Congress of IFAC , 1927 – 1932 .
   Google Scholar
• Honegger , M. , Codourey , A. , Burdet , E. ( 1997 ). Adaptive control of the hexaglide, a 6-DOF parallel manipulator . In IEEE International Conference on Robotics and Automation , 543 – 548 .
   Google Scholar
• Jung , S. , Ravani , B. (1998). Precise position control of stenciling robot manipulator using neural networks. In IEEE International Conference on Systems, Man, and Cybernetics, San Diego , CA, 3554–3559.
   Google Scholar
• Kochekali , H. , Ravani , B. ( 1994 ). A feature based path planning system for robotic stenciling of roadway markings . In ASCE Conference on Robotics for Challenging Environments , Albuquerque , NM , 52 – 60 .
   Google Scholar
• Lasky , T. A. , Ravani , B. ( 2000 ). Sensor-based path planning and motion control for a robotic system for roadway crack sealing . IEEE Transactions on Control Systems Technology 8 ( 4 ): 609 – 622 . [CROSSREF]
   Web of Science ®Google Scholar
• Lee , M. K. , Park , K. W. ( 1999 ). Kinematic and dynamic analysis of a double parallel manipulator for enlarging workspace and avoiding singularities . IEEE Transactions on Robotics and Automation 15 ( 6 ): 1024 – 1034 . [CROSSREF]
   Google Scholar
• Liang , T.-C. , Liu , J.-S. ( 1999 ). An improved trajectory planner for redundant manipulators in constrained workspace . Journal of Robotic Systems 16 ( 6 ): 339 – 351 . [CROSSREF]
   Google Scholar
• Liegeois , A. ( 1977 ). Automatic supervisory control of the configuration and behavior of multibody mechanisms . IEEE Transactions on Systems, Man and Cybernetics 7 ( 12 ): 868 – 871 .
   Web of Science ®Google Scholar
• Martin , D. P. , Baillieul , J. , Hollerbach , J. M. ( 1989 ). Resolution of kinematic redundancy using optimization techniques . IEEE Transactions on Robotics and Automation 5 ( 4 ): 529 – 533 . [CROSSREF]
   Google Scholar
• Mimura , N. , Funahashi , Y. ( 1995 ). A new analytical system applying 6 DOF parallel link manipulator for evaluating motion sensation . In IEEE International Conference on Robotics and Automation , 227 – 233 .
   Google Scholar
• Murray , R. M. , Li , Z. , Sastry , S. S. ( 1994 ). A Mathematical Introduction to Robotic Manipulation ; CRC Press , Boca Raton , FL .
   Google Scholar
• Nakamura , Y. ; Hanafusa , H. ( 1987 ). Optimal redundancy control of robot manipulators . International Journal of Robotics Research 6 ( 1 ): 32 – 42 . [CSA]
   Web of Science ®Google Scholar
• Nakashima , K. , Kataoka , M. , Nagata , O. , Wada , T. , Arai , T. ( 1993 ). Development of the parallel manipulator in Robotics, Mechatronics and Manufacturing Systems : Elsevier Science , pp. 27 – 32 .
   Google Scholar
• Pierrot , F. , Fournier , A. , Dauchez , P. ( 1997 ). Towards a fully parallel 6-DOF robot for high speed applications . In IEEE International Conference on Robotics and Automation , 1288 – 1293 .
   Google Scholar
• Reboulet , C. , Pigeyre , R. ( 1992 ). Hybrid control of a 6-DOF in-parallel actuated micro-manipulator mounted on a SCARA robot . International Journal of Robotics and Automation 7 ( 1 ): 10 – 14 . [CSA]
   Google Scholar
• Sciavicco , L. , Siciliano , B. ( 1988 ). A solution algorithm to the inverse kinematic problem for redundant manipulators . IEEE Transactions on Robotics and Automation 4 ( 4 ): 403 – 410 . [CROSSREF]
   Google Scholar
• Seraji , J. (1989). Configuration control of redundant manipulators: Theory and implementation. IEEE Transactions on Robotics and Automation 5(4):472–490. [CROSSREF] [CSA]
   Google Scholar
• Shiller , Z. , Dubowsky , S. ( 1991 ). On computing the global time-optimal motions of robotic manipulators in the presence of obstacles . IEEE Transactions on Robotics and Automation 7 ( 6 ): 785 – 797 . [CROSSREF] [CSA]
   Google Scholar
• Stewart , D. ( 1965 ). A platform with six degrees of freedom . Proceedings of the Institute of Mechanical Engineering 180 ( 15 ): 371 – 386 . [CSA]
   Google Scholar
• Stoughton , R. S. , Arai , T. ( 1993 ). A modified stewart platform manipulator with improved dexterity . IEEE Transactions on Robotics and Automation 9 ( 2 ): 166 – 173 . [CROSSREF]
   Google Scholar
• Tsitsiklis , J. N. ( 1995 ). Efficient algorithms for globally optimal trajectories . IEEE Transactions on Automatic Control 40 ( 9 ): 1528 – 1538 . [CROSSREF] [CSA]
   Web of Science ®Google Scholar
• Waldron , K. J. , Raghavan , M. , Roth , B. ( 1989 ). Kinematics of a hybrid series-parallel manipulation system . ASME Journal of Dynamic Systems, Measurement, and Control 111 ( 2 ): 211 – 221 .
   Web of Science ®Google Scholar