A synthesis method of spatial over-constrained mechanisms based on kinematics of serial manipulators
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DOI: 10.1017/s0263574722000868
Abstract: Abstract This paper proposes a modular method based on the kinematics of serial manipulators to synthesize over-constrained mechanisms. Because the PPP manipulator has an unlimited work space, its end-effector can be constrained to trace a… read more here.
Keywords: kinematics; constrained mechanisms; manipulator; serial manipulators ... See more keywords
A Framework for Data Driven Dynamic Modeling of Serial Manipulators
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DOI: 10.1109/access.2022.3223182
Abstract: Robot dynamic modeling and parameter identification are essential for many analyses. High-fidelity multi-body dynamics simulators can model the robot’s dynamic behavior, but they can’t identify the robot’s non-linear dynamic model needed for controller design. This… read more here.
Keywords: system; dynamic modeling; serial manipulators; framework ... See more keywords
Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming
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DOI: 10.1109/lcsys.2021.3086059
Abstract: The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is… read more here.
Keywords: robot programming; serial manipulators; manipulators robot; haptic rendering ... See more keywords
Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators
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DOI: 10.3390/robotics12030075
Abstract: The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators. The aforementioned systems aim to save… read more here.
Keywords: method based; control; experimental studies; serial manipulators ... See more keywords