Related papers: Uniqueness Domains in the Workspace of Parallel Ma…
This paper evaluates how laminated techniques may be used to replicate the performance of more traditionally manufactured robotic manipulators. In this case study, we introduce a laminated 2-DOF spherical, parallel manipulator. Taking…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
This note is about promoting singularity subtraction as a helpful tool in the discretization of singular integral operators on curved surfaces. Singular and nearly singular kernels are expanded in series whose terms are integrated on…
This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
We construct parallel manipulators with one degree of freedom and admitting infinitely many legs lying on a curve of degree ten and genus six. Our technique relies upon a duality between the spaces parametrizing all the possible legs and…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
Differentials on Riemann surfaces correspond to translation surfaces with conical singularities, and affine transformations acting on them preserve the orders of these singularities. This viewpoint allows the moduli spaces of differentials…
We present an efficient algorithm for computing the closest singular configuration to each non-singular pose of a 3-RPR planar manipulator performing a 1-parametric motion. By considering a 3-RPR manipulator as a planar framework, one can…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the…
In this paper a new asymmetric 3-translational (3T) parallel manipulator, i.e., RPa(3R) 2R+RPa, with zero coupling degree and decoupled motion is firstly proposed according to topology design theory of parallel mechanism (PM) based on…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
A type of parallel augmented subspace scheme for eigenvalue problems is proposed by using coarse space in the multigrid method. With the help of coarse space in multigrid method, solving the eigenvalue problem in the finest space is…
This paper addresses the problem of parallelizing computations to study non-linear dynamics in large networks of non-locally coupled oscillators using heterogeneous computing resources. The proposed approach can be applied to a variety of…
State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments primarily because they utilize auxiliary…
The main aim of this book is to present recent results concerning inequalities for continuous functions of selfadjoint operators on complex Hilbert spaces. It is intended for use by both researchers in various fields of Linear Operator…
Frames in a separable quaternionic Hilbert space were introduced and studied in [17] to have more applications. In this paper, we extend the study of frames in quaternionic Hilbert spaces and introduce different types of duals of a frame in…
We propose a method to simultaneously compute scalar basis functions with an associated functional map for a given pair of triangle meshes. Unlike previous techniques that put emphasis on smoothness with respect to the Laplace--Beltrami…