相关论文: Geometric interpretation of the general POE model …
The motions of mechanisms can be described in terms of screw coordinates by means of an exponential mapping. The product of exponentials (POE) describes the configuration of a chain of bodies connected by lower pair joints. The kinematics…
The Product of Exponentials (PoE) formula is a mathematical tool that is used extensively in robotics. The virtue of using the exponential mapping, Lie Algebra and screw theory is that it allows an elegant and concise way of describing the…
$ $Deriving a robot's equation of motion typically requires placing multiple coordinate frames, commonly using the Denavit-Hartenberg convention to express the kinematic and dynamic relationships between segments. This paper presents an…
The Product of Exponentials (PoE) formulation is most commonly used in the field of robotics, but has recently been adapted for use in describing orbital motion. The PoE formula for orbital mechanics is an alternate method for defining and…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a configuration-dependent kinematic…
This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an…
This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…
In the construction industry, traditional methods fail to meet the modern demands for efficiency and quality. The curtain wall installation is a critical component of construction projects. We design a hydraulically driven robotic arm for…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
Humanoid robots have complex bodies and kinematic chains with several Degrees-of-Freedom (DoF) which are difficult to model. Learning the parameters of a kinematic model can be achieved by observing the position of the robot links during…
This paper presents a reproducible and physically feasible dynamic parameter identification framework for CRANE-X7, a low-cost robot arm driven by modular smart actuators. To improve practical identifiability, products of inertia are…
Continuum robots, known for their high flexibility and adaptability, offer immense potential for applications such as medical surgery, confined-space inspections, and wearable devices. However, their non-linear elastic nature and complex…
Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This…
This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-free workspace of regular shape. The suggested method uses…
Any suitably well-posed PDE in two spatial dimensions can be represented as a Partial Integral Equation (PIE) -- with system dynamics parameterized using Partial Integral (PI) operators. Furthermore, $L_2$-gain analysis of PDEs with a PIE…
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…