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Stephen L. Canfield
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Journal Articles

Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot

Stephen L. Canfield, Joseph S. Owens, Stephen G. Zuccaro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031016.
Paper No: JMR-20-1457
https://doi.org/10.1115/1.4050102
Published Online: March 15, 2021
View Article titled, Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot
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Topics: Computer programming, Friction, Robots, Torque, Welding
Proceedings Papers

Kinematic Design of a Large-Angular-Motion Constant-Velocity Coupling

Stephen L. Canfield, Robert J. Salerno, Charles F. Reinholtz
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis, 167-173, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0191
https://doi.org/10.1115/DETC1994-0191
View Paper titled, Kinematic Design of a Large-Angular-Motion Constant-Velocity Coupling
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Topics: Design, Kinematics
Proceedings Papers

A Parallel, Four Degree-of-Freedom Robotic Wrist

Robert J. Salerno, Stephen L. Canfield, Anthony J. Ganino, Charles F. Reinholtz
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 765-771, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0100
https://doi.org/10.1115/DETC1995-0100
View Paper titled, A Parallel, Four Degree-of-Freedom Robotic Wrist
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Topics: Degrees of freedom, Robotics, Kinematics, Weight (Mass), Construction, Design, Displacement, Mechanical admittance, Patents, Real-time control
Proceedings Papers

Singularity and Dexterity Analysis of the Carpal Wrist

Stephen L. Canfield, Anthony J. Ganino, Robert J. Salerno, Charles F. Reinholtz
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A059, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1156
https://doi.org/10.1115/96-DETC/MECH-1156
View Paper titled, Singularity and Dexterity Analysis of the Carpal Wrist
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Topics: Bone, Cables, Kinematics, Manipulators, Muscle, Tunnels
Proceedings Papers

Velocity Analysis of Truss-Type Manipulators

Stephen L. Canfield, R. Randall Soper, Scott L. Hendricks, Charles F. Reinholtz
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A004, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1158
https://doi.org/10.1115/96-DETC/MECH-1158
View Paper titled, Velocity Analysis of Truss-Type Manipulators
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Topics: Manipulators, Trusses (Building), Screws, Algebra, Geometry
Proceedings Papers

Uniformity As the Guide to Evaluation of Dexterous Manipulator Workspaces

Stephen L. Canfield, R. Randall Soper, Charles F. Reinholtz
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A041, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/DAC-3969
https://doi.org/10.1115/DETC97/DAC-3969
View Paper titled, Uniformity As the Guide to Evaluation of Dexterous Manipulator Workspaces
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Topics: Manipulators, Actuators, Robotics
Proceedings Papers

New Matrix-Theory-Based Definitions for Manipulator Dexterity

R. Randall Soper, Stephen L. Canfield, Charles F. Reinholtz, Dean T. Mook
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A042, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/DAC-4410
https://doi.org/10.1115/DETC97/DAC-4410
View Paper titled, New Matrix-Theory-Based Definitions for Manipulator Dexterity
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Topics: Manipulators, Algebra, Architecture, Linear systems
Proceedings Papers

Dynamic Force Analysis of the Carpal Wrist

Stephen L. Canfield, R. Randall Soper, Charles F. Reinholtz
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A090, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/DAC-3970
https://doi.org/10.1115/DETC97/DAC-3970
View Paper titled, Dynamic Force Analysis of the Carpal Wrist
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Topics: Bearings, Equations of motion, Kinematics, Lightweight structures, Robotics, Stress
Proceedings Papers

Synthesis of Multi-Degree-of-Freedom Force-Generating Linkages

R. Randall Soper, Charles F. Reinholtz, Stephen L. Canfield
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A007, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5975
https://doi.org/10.1115/DETC98/MECH-5975
View Paper titled, Synthesis of Multi-Degree-of-Freedom Force-Generating Linkages
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Topics: Linkages, Design, Chain, Weight (Mass), Energy storage, Equilibrium (Physics), Machinery, Mechanical admittance, Springs, Stress
Proceedings Papers

Creating Highly Dexterous Manipulators Using Nonlinear Input Transmission

Stephen L. Canfield, R. Randall Soper, Charles F. Reinholtz
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A008, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5976
https://doi.org/10.1115/DETC98/MECH-5976
View Paper titled, Creating Highly Dexterous Manipulators Using Nonlinear Input Transmission
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Topics: Manipulators, Actuators, Architecture, Engines, Motors, Robotics, Torque, Yaw
Proceedings Papers

Contention-Free Control of Over-Constrained Variable Geometry Trusses

R. Randall Soper, Charles F. Reinholtz, Stephen L. Canfield, Robert L. Williams, III
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1127-1133, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8668
https://doi.org/10.1115/DETC99/DAC-8668
View Paper titled, Contention-Free Control of Over-Constrained Variable Geometry Trusses
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Topics: Geometry, Actuators, Architecture, Trusses (Building), Chain, Dimensions, Manipulators
Proceedings Papers

Investigation of the Parameters Governing Linkage-Based Rocking Chairs

Stephen L. Canfield, James W. Beard, R. Randall Soper
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1301-1305, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14196
https://doi.org/10.1115/DETC2000/MECH-14196
View Paper titled, Investigation of the Parameters Governing Linkage-Based Rocking Chairs
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Topics: Linkages, Design, Displacement, Oscillations, Degrees of freedom, Engineering prototypes, Kinematics, Numerical analysis, Pendulums, Stability
Proceedings Papers

Zero Moment Control for Lead-Through Teach Programming on a Collaborative Robot

Stephen L. Canfield, Joseph S. Owens, Stephen G. Zuccaro
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A068, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22510
https://doi.org/10.1115/DETC2020-22510
View Paper titled, Zero Moment Control for Lead-Through Teach Programming on a Collaborative Robot
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Topics: Computer programming, Robots, Friction, Welding, Coulombs, Torque, Calibration, Fourier series, Manufacturing, Momentum
Proceedings Papers

Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots

Matthew W. Powelson, Wesley A. Demirjian, Stephen L. Canfield
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A051, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98012
https://doi.org/10.1115/DETC2019-98012
View Paper titled, Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots
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Topics: Adhesives, Robots, Design, Adhesion, Design methodology, Sensors, Surveillance, Suspension systems, Vehicles, Weight (Mass)
Proceedings Papers

Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats

Benjamin E. Hargis, Benjamin F. Brandt, Stephen L. Canfield, Michael Tinker
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A066, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97952
https://doi.org/10.1115/DETC2019-97952
View Paper titled, Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats
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Topics: Engineering prototypes, Modeling, Satellites, Design, Flight, Cable reels, Damping, Equations of motion, Robotics, String
Proceedings Papers

Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist

Benjamin E. Hargis, Wesley A. Demirjian, Matthew W. Powelson, Stephen L. Canfield
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A048, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86093
https://doi.org/10.1115/DETC2018-86093
View Paper titled, Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist
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Topics: Kinematics, Manipulators, Artificial neural networks, Errors, Density, End effectors, Matlab, Robots, Testing, Trains
Proceedings Papers

Slip Prediction of Skid-Steer Mobile Robots in Manufacturing Environments

Stephen G. Zuccaro, Stephen L. Canfield, Tristan W. Hill
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A036, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68312
https://doi.org/10.1115/DETC2017-68312
View Paper titled, Slip Prediction of Skid-Steer Mobile Robots in Manufacturing Environments
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Topics: Manufacturing, Mobile robots, Robots, System dynamics, Design, Kinematics, Energy consumption, Friction, Mechanical drives, Robot motion
Proceedings Papers

Design of Track-Based Climbing Robots Using Dry Adhesives

Matthew W. Powelson, Stephen L. Canfield
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A020, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67999
https://doi.org/10.1115/DETC2017-67999
View Paper titled, Design of Track-Based Climbing Robots Using Dry Adhesives
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Topics: Adhesives, Design, Robots, Adhesion, Equilibrium (Physics), Suspension systems
Journal Articles

Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks

Stephen L. Canfield, Reabetswe M. Nkhumise
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061013.
Paper No: JMR-16-1374
https://doi.org/10.1115/1.4038007
Published Online: October 12, 2017
View Article titled, Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks
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Topics: Design, Kinematics, Manipulators, Manufacturing, Robots, Welding, Control equipment, System dynamics
Proceedings Papers

Modeling Power Requirements for Skid-Steer Mobile Robots in Manufacturing Environments

Stephen L. Canfield, Tristan W. Hill, Stephen G. Zuccaro
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A049, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60152
https://doi.org/10.1115/DETC2016-60152
View Paper titled, Modeling Power Requirements for Skid-Steer Mobile Robots in Manufacturing Environments
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Topics: Manufacturing, Mobile robots, Modeling, Optimization, Energy consumption, Design, Dynamic models, Friction, Metal surfaces, Simulation