This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …

This paper introduces an optimal capture strategy for a manipulator based on a servicing
spacecraft to approach an arbitrarily rotating object, such as a malfunctioning satellite or a …

This article proposes a novel robust control scheme for the trajectory tracking control of a
cable-driven aerial manipulator in joint space, combining an adaptive fractional-order …

Accurate simulations of the motion of cable-driven parallel robots (CDPRs) are helpful in its
modal analysis, testing robust control strategies, validating designs and estimating …

This paper proposes the simultaneous design optimization of the geometry (joint position
and directions) and the topology (joint distribution and connection) of tree-type robotic …

Forward dynamic analyses of cable-driven parallel robots (CDPRs) are performed
accounting for the spatial motions of the cables while considering their mass, sag, elastic …

Conventional methods for solving robot forward dynamics are characterized by high
computational complexity. Recursive Newton-Euler algorithm (RNEA) is the most efficient …

The objective of this article is to present a systematic method of deriving the mathematical
formulation for the oblique impact of a tree-type robotic manipulator. The dynamic response …

In this article, a recursive approach is used to dynamically model a tree-type robotic system
with floating base. Two solution procedures are developed to obtain the time responses of …

In this work, the branch of the tree robot has been controlled for crack sealing of concrete
pipe. This tree robot is used for repair and maintenance purposes. It can maneuvers inside …