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An analytical-numerical method based on solution of inverse dynamics is presented for determining the load workspace of generally configured parallel motion systems with up to 6 degrees of freedom. The kinematic workspace is also obtained by the method, since the solution of inverse kinematics is embedded in the procedure. The method is first developed for 3DoF motion systems to take the advantages...
The model-based control of robotic manipulators relies on an exact model of the manipulator. Redundantly actuated PKM posses the ability to exhibit internal prestress that does not affect its environment. This allows for a purposeful distribution of control forces, taking into account secondary tasks, such optimal force distribution, active stiffness, and backlash avoiding control. In the presence...
This paper points out two new aspects of ILC (iterative learning control). One is to find out new applications of ILC and the other is to use feedforward input patterns obtained through ILC in order to generate new motions of robots. As new applications, passive human motions and underwater robot arm motions are explained in this paper. As the use of feedforward input patterns, the key ideas of a...
Spherical robot has no operational ability to surrounding unless it integrates arms. For realizing omnidirectional movement and operating task of spherical robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with arms. Considered nonholonomic constraint, dynamic equations of the robot system with arms were instructed detailedly...
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