This paper presents a new generalized approach to the singularity analysis of a general mechanism (arbitrary kinematic chain), considered as a non-redundant inputoutput device with equal number of inputs and outputs. The instantaneous kinematics of a mechanism is described by means of a velocity equation, explicitly including not only the input and output velocities but also the passive-joint v...

This article presents a simulation-based strategy for sizing the actuators of a redundantly actuated robotic mechanism. The class of robotic mechanisms we consider may contain one or more closed loops and possess an arbitrary number of active and passive joints, and the number of actuators may exceed themechanism’s kinematic degrees of freedom. Our approach relies on a series of dynamic simulat...

Placement of robotics manipulators involves the specification of the position and orientation of the base with respect to a predefined work environment. A general approach to the placement of manipulators based on the kinematic dexterity of mechanisms is presented. In many robotic implementations, it is necessary to carefully plan the layout of the workplace, whether on the manufacturing floor ...

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The mani...

The kinematic mapping x = f(&thetas;) is generally many to one. For nonredundant manipulators, this means that there are a finite number of configurations (joint angles) that will place the end-effector at a target location in the workspace. These correspond to postures of the manipulator, and each configuration lies on a specific solution branch. It is shown that for certain classes of revolut...

Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes to have four distinct IKS. We show that the transition between manipulators with 2 and 4 IKS is defined by the set of manipulators with a quadruple root of their inverse kinematics. The resulting co...

The division IKM of Siemens Healthcare develops and tests the software platform syngo Suite, an integrated RIS/PACS solution for radiology departments. Within the scope of a diploma thesis, the practicality of the Statistical Testing approach was proven in comparison to present deterministic testing.

In this paper we present the inception of Integrated Knowledge Management (IKM). Knowledge management is entering its new stage, after the delays of its “definitionless”, IT-based period, when knowledge got confused with information, losing thus two decades of fruitful development. Although there now is a significant information overload, killing productivity, creativity and innovation, there c...

Effective information and knowledge management (IKM) is critical to corporate success; yet, its actual establishment and management is not yet fully understood. We identify ten organizational elements that need to be addressed to ensure the effective implementation and maintenance of information and knowledge management within organizations. We define these elements and provide key characteriza...