In this paper the workspace optimization of 3-legged translational UPU and orientational UPS parallel platforms under joint constraints is performed. The workspace of both platforms is parametrized using several design parameters that span a large range of values. In this paper both the unconstrained and the constrained workspaces (i.e., workspace with joint limits) are used. For the workspace ...

In 2001, Kevin Baker adapted the heuristic evaluation methodology to find usability problems in real-time, shared workspace groupware systems [1]. Real-time, shared workspace groupware systems support real-time collaboration between distance-separated people through a shared workspace – “a medium sized flat work surface where people collaborate by manipulating visible tools and task artefacts” ...

In this paper, kinematic and workspace analysis of 3-DoF planar Parallel Kinematic Machine (PKM) is carried out. The mechanism consists of three legs in which two legs have Prismatic-RevolutePrismatic joints and other leg has Prismatic-Prismatic-Revolute joints, it termed as 2-PRP and 1-PPR planar parallel kinematic machine. By these joints, the mechanism can achieve two translational motions a...

In this paper, a kinematically redundant parallel haptic device with large workspace is presented. The haptic device has a similar kinematic structure to the well‐ known Delta manipulator. However, it has a special arrangement of actuators and one redundant actuator added to the third leg. The proposed haptic device has essentially 4‐DOF, however, only three tra...

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In this paper the workspace optimization of translational 3-UPU parallel platforms with prismatic and universal joint constraints is performed. The workspace is parameterized using two design parameters, which are the prismatic joint stroke and the difference between the distances of the center to one of the corners of the triangular plate of the base and of the moving platform. For a large ran...

Workspace awareness as the "... up-to-the-moment understanding of another person’s interaction with a shared workspace" [GuGr 99] involves knowledge on who is working in the workspace, where individuals are working, what they are doing or going to do, how and when they are executing their work, and what their motivation is for doing it (why). Traditional awareness systems use dynamic user behav...

In the search for intuitive man-machine interfaces the visual recognition of human gestures would provide a powerful means to guide robot movements. In our paper we report on the development of the modular neural system \See-Eagle" for the visual guidance of robot pick-and-place actions. Several neural networks are integrated to a single system that visually recognizes human hand pointing gestu...

Flexibility combined with the ability to consider external constraints comprises main advantages of nonlinear model predictive control (NMPC). Applied as a motion controller, NMPC enables applications in varying and disturbed environments, but requires time-consuming computations. Hence, given full multi-DOF robot model, delay-free execution providing short horizons at appropriate prediction fo...