This Chapter reviews the literature on gravity balancing for parallel robots by using so-called
constant-force generators. Parallel robots are formed by several kinematic chains …

Dynamic balance eliminates the fluctuating reaction forces and moments induced by high-
speed robots that would otherwise cause undesired base vibrations, noise and accuracy …

The problem of shaking force balancing of robotic manipulators, which allows the
elimination or substantial reduction of the variable force transmitted to the fixed frame, has …

To improve tracking precision against complex external forces in the working environment,
dynamic model-based control algorithms are widely used in tracking mechanisms. As a …

Dynamic locomotion plays a crucial role for legged robots to fulfill tasks in unstructured
environments. This paper proposes whole-body kinematic and dynamic modeling method s …

In this paper it is shown that the structure of the configuration space of any continua is what
is called in differential geometry a principle bundle. A principal bundle is a structure in which …

Spherical parallel robots (SPR) are widely used in industries and robotic rehabilitation.
Designing such systems for better balance properties is still a challenge. This paper …

In this paper, the environmental uncertainties are taken into account when designing a
robotic manipulator to balance the shaking force, shaking moment, and torque. The …

Industrial robotic manipulators in pick-and-place applications require short settling times to
achieve high productivity. The fluctuating reaction forces and moments on the base of a …

One of the most challenging robotic manipulator designs is finding an appropriate balance
between the shaking force and shaking moment because this reduces vibrations. Several …