Related papers: On the Kinetostatic Optimization of Revolute-Coupl…
Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number leads, under certain conditions, to…
The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the…
The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely…
<jats:title>Abstract</jats:title> <jats:p>In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning…
The paper deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its…
The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free trajectories, as well as a good manipulability in…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
The paper presents a novel technique for the design of optimal calibration experiments for a planar anthropomorphic manipulator with n degrees of freedom. Proposed approach for selection of manipulator configurations allows essentially…
The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
Designing adaptable control laws that can transfer between different robots is a challenge because of kinematic and dynamic differences, as well as in scenarios where external sensors are used. In this work, we empirically investigate a…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
This paper presents the workspace optimization of one-translational two-rotational (1T2R) parallel manipulators using a dimensionally homogeneous constraint-embedded Jacobian. The mixed degrees of freedom of 1T2R parallel manipulators,…
The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification…