"This paper deals with research and design of industrial robotic manipulator which is suitable for operation in aggressive environment (high pressure/temperature, acid or lye). The main field of application is a task of operation and manipulation in industrial degreasing and paint removing lines. For this purpose a special three DoF parallel spherical wrist was constructed. This allows a placement of all the vulnerable components of the robot such as drives and electronics outer the end-effector space, which may contain aggressive chemicals. All the positioning of the effector is performed by a system of mechanical transmissions which allow separating it from the rest of the machine by a waterproof barrier. Second part of the robot consists of three-arm serial manipulator with three DoF connected to moving support which results in final seven degrees of freedom kinematics. The paper deals with kinematical analysis of the manipulator and presents some basic approaches for motion planning and control." . "P(FR-TI1/174), S" . "RIV/49777513:23520/11:43898231" . . . . "parallel spherical wrist; motion planning and control; mechatronics; industrial robotic manipulator; robotics"@en . . "Velke Karlovice" . "Research and design of modular robotic manipulator for chemical aggressive environment" . "This paper deals with research and design of industrial robotic manipulator which is suitable for operation in aggressive environment (high pressure/temperature, acid or lye). The main field of application is a task of operation and manipulation in industrial degreasing and paint removing lines. For this purpose a special three DoF parallel spherical wrist was constructed. This allows a placement of all the vulnerable components of the robot such as drives and electronics outer the end-effector space, which may contain aggressive chemicals. All the positioning of the effector is performed by a system of mechanical transmissions which allow separating it from the rest of the machine by a waterproof barrier. Second part of the robot consists of three-arm serial manipulator with three DoF connected to moving support which results in final seven degrees of freedom kinematics. The paper deals with kinematical analysis of the manipulator and presents some basic approaches for motion planning and control."@en . . "2"^^ . . "\u0160vejda, Martin" . "RIV/49777513:23520/11:43898231!RIV12-MSM-23520___" . "Research and design of modular robotic manipulator for chemical aggressive environment" . . "Research and design of modular robotic manipulator for chemical aggressive environment"@en . . "2011-05-25+02:00"^^ . "2"^^ . "10.1109/CarpathianCC.2011.5945883" . . "[835BDDC51B84]" . . "Research and design of modular robotic manipulator for chemical aggressive environment"@en . "Proceedings of 12th International Carpathian Control Conference" . "5"^^ . . "Goubej, Martin" . . "226643" . . . "23520" . . . . "Ostrava" . . . "ICCC" . "978-1-61284-360-5" . . .