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Keywords: manipulator kinematics
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041004.
Published Online: September 26, 2011
.... This paper was presented in part at the IEEE International Conference on Intelligent Robots and Systems, Nice, France, Sept, 2008, and at the IEEE International Conference on Robotics and Automation, Anchorage, United States, May, 2010. manipulator kinematics 05 08 2010 24 05 2011 26...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031005.
Published Online: July 27, 2011
... controlled in 3 degrees of freedom. It is expected that the joint will be a useful option in the development of emerging robotic applications, particularly those requiring miniaturization. 05 06 2010 04 02 2011 27 07 2011 27 07 2011 closed loop systems manipulator kinematics...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2011, 3(3): 034501.
Published Online: July 19, 2011
... couplings design engineering human-robot interaction manipulator kinematics 31 05 2010 26 04 2011 19 07 2011 19 07 2011 2011 American Society of Mechanical Engineers ...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021013.
Published Online: April 20, 2011
... require a parametric model that relates the geometric source errors to the pose accuracy of the end-effector. calibration geometry manipulator kinematics 15 04 2010 24 09 2010 20 04 2011 20 04 2011 The parallelogram joint in the i th limb of a Delta...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021006.
Published Online: March 30, 2011
... general-type architectures of 4DOF parallel manipulators with potential applications are synthesized systematically in consideration of the actuated pairs near the fixed base. 26 04 2009 04 03 2010 30 03 2011 30 03 2011 end effectors manipulator kinematics Schoenflies...
Topics: Generators
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021004.
Published Online: March 10, 2011
... (mechanical) design engineering end effectors manipulator kinematics The design of a mechanical system is often the result of an optimization process, aimed to obtain the best performances inside a given task space, under fixed constraints. An optimal design of a robot generally refers to the one...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011014.
Published Online: February 10, 2011
... deflection −100 deg and (bottom) yaw deflection of −100 deg combined with pitch actuation of −100 deg couplings manipulator kinematics robot wrist rotation sequence spherical triangle spherical linkage parallel mechanism Clemens linkage constant-velocity coupling 2011 American...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011013.
Published Online: February 10, 2011
... speed, accuracy, rigidity, and reconfigurability when compared with conventional machine tools and industrial robots having serial architectures. acceleration control Hessian matrices Jacobian matrices Lie algebras manipulator kinematics motion control velocity control 22 12 2009...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011007.
Published Online: January 6, 2011
... parallel manipulator in order to guarantee that the robot works in the same assembly mode. This work may facilitate the control of the quadratic spherical parallel manipulator. 19 07 2010 15 11 2010 06 01 2011 06 01 2011 manipulator kinematics polynomials parallel...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011004.
Published Online: November 30, 2010
... inside the workspace where the manipulator loses its stiffness and is not capable of generating instantaneous work in one or more twist directions. parallel mechanism architecture screw based singularity 3RRRS geometry Jacobian matrices manipulator kinematics 30 05 2010 22...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011006.
Published Online: November 30, 2010
... , A. , 1996 , Nonlinear Dynamical Control Systems , Springer , New York . 12 10 2009 20 09 2010 30 11 2010 30 11 2010 couplings deformation geometry Jacobian matrices manifolds manipulator kinematics kinematic mapping constraints singularities configuration...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011005.
Published Online: November 30, 2010
... velocity, ω i T δ i = 0 is not always satisfied. Hence, the solutions of dynamics analyses of PMs become approximate. This must impose difficulty on the control and analysis of kinematics/dynamics of PMs. parallel manipulator kinematics dynamics angular velocity...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011002.
Published Online: November 23, 2010
... fasteners Jacobian matrices manipulator kinematics reciprocal Jacobian screw based Jacobian lower mobility parallel manipulator unique form of Jacobian The Jacobian matrix of a robotic manipulator, which relates the velocities (or forces) of actuators to the end effector velocities...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011003.
Published Online: November 23, 2010
... manipulator kinematics rotation set theory Parallel mechanisms having two dimensional rotations have a large potential application field, including orientating devices and milling machines. The most famous 2DOF spherical parallel mechanism may be the one introduced in Ref. 1 for the orienting...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041009.
Published Online: September 30, 2010
... in this way. In order to treat planes and spheres on an equal footing, the Clifford algebra for the Möbius group is introduced. 04 03 2010 22 07 2010 30 09 2010 30 09 2010 algebra elasticity manipulator kinematics shear modulus Geometric constraints are of fundamental...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031015.
Published Online: July 27, 2010
..., via Screw Theory, of Closed Chains ,” Meccanica 0025-6455 , 36 ( 2 ), pp. 213 – 228 . 10.1023/A:1013074907533 14 05 2009 09 03 2010 27 07 2010 27 07 2010 algebra manipulator kinematics mobile robots wheels instant center jerk higher order kinematics...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031009.
Published Online: July 21, 2010
... synthesis of these two subsystems. 20 10 2009 27 03 2010 21 07 2010 21 07 2010 end effectors Jacobian matrices manipulator kinematics performance index Although various limited-degree-of-freedom (limited-DOF) parallel kinematic machines (PKMs) have attracted much...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031003.
Published Online: June 21, 2010
... accomplished by this proposed methodology. 05 01 2010 29 04 2010 21 06 2010 21 06 2010 gravity manipulator kinematics motion control springs (mechanical) suspensions (mechanical components) Paper presented in part at the ASME 2009 Design Engineering Technical Conference...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031002.
Published Online: June 21, 2010
... operational workspace by means of path planning. A descriptive study is presented regarding the diverse possible paths that allow changing between direct kinematic solutions, thus, enlarging the manipulator’s range of motion. 21 04 2009 08 02 2010 21 06 2010 21 06 2010 manipulator...