Cuspidal robots can move from one inverse or direct kinematic solution to another without
ever passing through a singularity. These robots have remained unknown because almost …

Redundant non-serial compound manipulators with closed kinematic and actuator loops that
enhance precision control and load carrying capacity are treated. Generalized coordinates …

This electronic text uses modern methods of differential geometry to (1) obtain ordinary
differential equations (ODE) of motion for mechanical system dynamics,(2) construct …

Sliding-frame mobile robots used for autonomously inspecting metallic structures consist of
two bodies connected by few joints. They move by alternately adhering one body to the …

Redundant non-serial manipulators that include a spectrum of parallel and non-parallel
heavy load bearing construction and material handling equipment are treated, using …

This paper presents an educational simulation tool to analyze the kinematics and dynamic
control of 2RPR-PR planar parallel robots. The tool, which is very intuitive, allows the …

The Intelligent Human Computer Interaction conferences bring together scientists,
engineers, computer users, and students to exchange and share their experiences, new …

Using basic tools of Euclidian space differential geometry, maximal singularity free
components of the regular manipulator configuration space are defined, with conditions that …

This paper investigates a situation pointed out in a recent paper, in which a non-singular
change of assembly mode of a planar 2-RPR-PR parallel manipulator was realized by …