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This contribution presents a biological inspired robot, called Trunk Robot Braunschweig (TRoBS). The structural shape of the robot is motivated by a trunk mechanism, where the robot is actuated by NiTi shape memory alloy (SMA) wires, placed according to the agonist-antagonist principle of muscles. The robot has a modular structure, the single segments are connected by compliant joints, whose arrangement...
A sophisticated and advanced strategy for kinematic calibration of parallel manipulators has been reported. The strategy relies on passing type two singularities (i.e., direct kinematic singularities) and is therefore referred to as singularity-based calibration. Within the parameter estimation process, the singularity-based calibration technique requires to solve a so-called singular kinematic problem...
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