Browsing by Subject "Robots  Kinematics"
Now showing items 120 of 24

A distance geometry approach to the singularity analysis of 3R robots
(ASME PRESS, 2015)
Article
Restricted access  publisher's policyThis paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective ... 
A family of quadraticallysolvable 5SPU parallel robots
(2010)
Conference report
Open AccessA 5SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot having ... 
Analysing the singularities of 6SPS parallel robots using virtual legs
(LIRMM, 2008)
Conference report
Open AccessA virtual leg in a 6SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. ... 
Approaching dual quaternions from matrix algebra
(2014)
Article
Open AccessDual quaternions give a neat and succinct way to encapsulate both translations and rotations into a unified representation that can easily be concatenated and interpolated. Unfortunately, the combination of quaternions and ... 
Architecture singularities in flagged parallel manipulators
(IEEE, 2008)
Conference report
Open AccessFlagged manipulators are of interest because they are the only StewartGough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be ... 
A robust forward kinematics analysis of 3RPR planar platforms
(Springer Verlag, 2010)
Conference report
Open AccessThe standard forward kinematics analysis of 3RPR planar parallel platforms boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but all of them include exceptions ... 
A wrenchsensitive touch pad based on a parallel structure
(IEEE, 2008)
Conference report
Open AccessMany different robotic inparallel structures have been conceived as sixcomponent force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ... 
Closedform solution to the position analysis of Watt–Baranov trusses using the bilateration method
(ASME PRESS, 2011)
Article
Restricted access  publisher's policyThe exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining a system of equations derived ... 
Direct position analysis of a large family of spherical and planar parallel manipulators with four loops
(LIRMM, 2008)
Conference report
Open AccessThe direct position analysis (DPA) of a manipulator is the computation of the endeffector poses (positions and orientations) compatible with assigned values of the actuatedjoint variables. Assigning the actuatedjoint ... 
Exploiting singlecycle symmetries in branchandprune algorithms
(Springer Verlag, 2007)
Part of book or chapter of book
Open AccessAs a ﬁrst attempt to exploit symmetries in continuous con straint problems, we focus on permutations of the variables consisting of one single cycle. We propose a procedure that takes advantage of these symmetries by ... 
Generation of underactuated parallel robots with nonholonomic joints and kinetostatic analysis of a casestudy
(2009)
Conference report
Restricted access  publisher's policyIt will be shown how to generate underactuated manipulators by substituting nonholonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fullyparallel manipulators (FPMs). Through this pair ... 
Geometric path planning without maneuvers for nonholonomic parallel orienting robots
(Institute of Electrical and Electronics Engineers (IEEE), 201607)
Article
Open AccessCurrent geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zerovelocity points. The need for these maneuvers restrains the use of this kind ... 
IKFA, a new heuristic inverse kinematics solver using firefly algorithm
(Springer, 20151127)
Part of book or chapter of book
Open AccessIn this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IKFA. Solving inverse kinematics, IK, consists in finding a set of ... 
Implementación de un control fuzzy para el control cinemático directo en un robot manipulador
(201212)
Article
Open AccessEn este artículo se muestra el desarrollo e implementación de la lógica difusa como herramienta de control de posición para cada una de las articulaciones de un robot tipo PUMA. Se hace una descripción general del robot ... 
JXTAoverlay P2P platform and its application for robot control
(Institute of Electrical and Electronics Engineers (IEEE), 2010)
Conference report
Open AccessThe design of an efficient collaborative multirobot framework that ensures the autonomy and the individual requirements of the involved robots is a very challenging task. This requires designing an efficient platform for ... 
Kinematics of lineplane subassemblies in Stewart platforms
(IEEE, 20090531)
Conference report
Open AccessWhen the attachments of five legs in a Stewart platform are collinear on one side and coplanar on the other, the platform is said to contain a lineplane subassembly. This paper is devoted to the kinematics analysis of ... 
Optimal design of a 6DOF 44 parallel manipulator with uncoupled singularities
(Asociación Española de Ingeniería Mecánica, 2008)
Conference report
Open AccessA 6DOF 44 parallel manipulator is presented. Its forward kinematics can be solved by a sequence of three trilaterations and, as a consequence, its singularities can be described in geometric terms as the degeneration of ... 
Polynomial solution to the position analysis of two Assur kinematic chains with four loops and the same topology
(ASME PRESS, 2009)
Article
Restricted access  publisher's policyThe direct position analysis (DPA) of a manipulator is the computation of the endeffector poses (positions and orientations) compatible with assigned values of the actuatedjoint variables. Assigning the actuatedjoint ... 
Sharpening haptic inputs for teaching a manipulation skill to a robot
(2010)
Conference report
Open AccessGaussian mixturesbased learning algorithms are suitable strategies for trajectory learning and skill acquisition, in the context of programming by demonstration (PbD). Input streams other than visual information, as used ... 
Slave architecture for the Robonova MRC3024 using the HMI protocol
(2010)
External research report
Open AccessThe goal of the project is to develop a new rmware for the servo control board Hitec MR C3024 [8] to improve its speci cations. This board will be used to control the movement of a humanoid robot, driven by digital ...