In this article, a review on parallel kinematic machine dynamic control is performed. It is shown that the classical control strategies from serial robotics generally used for parallel kinematic machine have to be thought again. Indeed, it is first shown that the joint space control is not relevant for these mechanisms for several reasons such as mechanical behaviour or computational efficiency...

In this paper an innovative method for robotic manipulator kinematic control and supervision is proposed, both locally, by operator panel, both remote by the use of short-message. A programmable logical controller (PLC) is adopted to obtain a versatile and applicable solution in any robotic system. In particular the problem of end effector positioning in a desired point of the work space of an ...

We introduce and demonstrate a bootstrap method for construction of an inverse function for the robot kinematic mapping using only sample configuration– space/workspace data. Unsupervised learning (clustering) techniques are used on pre–image neighborhoods in order to learn to partition the configuration space into subsets over which the kinematic mapping is invertible. Supervised learning is t...

An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to minimum time, given an inverse kinematic solution for the path and bounds on joint velocities and accelerations. The algorithm has complexity O(M logM ), with respect to the number of joint coordinatesM , and works using...

The information required for solving the inverse kinematic problem associated with any single-loop spatial mechanism is essentially stored in the inverse kinematic solution set of the orthogonal spherical mechanism (SS ÿ 3 for short). The ®rst part of this paper is devoted to the characterization of SS ÿ 3 in terms of its connectivity, singularities and symmetries. The second one focuses on ®nd...

Designing a movable spatial four-bar mechanism that guides a coupler system through three given poses is an old and well known problem. The resulting mechanism has to be overconstrained and is called Bennett mechanism. We give a completely new solution of this problem using kinematic mapping and multidimensional geometry. This approach provides a new insight in the problem. First of all it show...

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. The notion of aspect introduced for serial manipulators in [1], and redefined for parallel manipula...

We present an exact solution of the anisotropies of cosmic background radiation (CBR) from a local collapse described by a spherical over-dense region embedded in a flat universe, with the emphasis on the relationship between the dipole (∆T/T)d and the quadrupole (∆T/T)q anisotropy. This result has been used to examine the kinematic quadrupole correction (∆T/T)q = (∆T/T) 2 d/2, which is usually...

The kinematic mechanisms associated with elevated externally applied valgus knee moments during non-contact sidestepping and subsequent anterior cruciate ligament (ACL) injury risk are not well understood. To address this issue, the residual reduction algorithm (RRA) in OpenSim was used to create nine subject-specific, full-body (37 degrees of freedom) torque-driven simulations of athletic male...

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. The notion of aspect introduced for serial manipulators in [1], and redefined for parallel manipula...