We discuss the determination of workspaces of discretely ac-tuated manipulators using convolution of real-valued functions on the Special Euclidean Group. Each workspace is described in terms of a density function that provides for any unit taskspace volume of the workspace the number of reachable frames therein. A manipulator consisting of n discrete actuators each with K states can reach K n ...

Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the d...

The chapter focuses on the enhanced stiffness modeling and analysis of serial kinematic chains with passive joints, which are widely used in parallel robotic systems. In contrast to previous works, the stiffness is evaluated for the loaded working mode corresponding to the static equilibrium of the elastic forces and the external wrench acting upon the manipulator end point. It is assumed that ...

The paper is devoted to the elastostatic calibration of industrial robots, which are used for precise machining of largedimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic m...

CINEGEN is a Virtual Reality based system for the rapid design, prototyping and simulation of robot manipula-tors. With CINEGEN, users provide a text description of a manipulator and a numerical algorithm automatically computes the inverse kinematics. This algorithm is capable of handling serial, parallel and hybrid manipulator structures. Using CINEGEN, the user can directly interact with a gr...

The ROBOTLAB is a MATLAB based software package developed for robot simulation and analysis. MATLAB users can analyze and simulate any arbitrary serial link manipulator using ROBOTLAB by specifying robot kinematics, geometric and dynamic parameters. The package incorporates an extensive library of functions of transforrnations, kinematics, dynamics, control, trajectory and 3D animation of robot...

The report presents an enclosing and enclosed ellipsoids based solid modeling technique for serial links of articulated robot manipulators. This modeling allows the collision detection for interactive robot motion planning in a graphical simulation environment or in a telerobotic simulator be performed efficiently and precisely. A systematic way of determining the kinematic transformation matri...

Based on extensive study on literatures of control of parallel manipulators and serial manipulators, control strategies such as computed torque control, PD+ control, PD with feedforward compensation, nonlinear adaptive control are classified into two categories: model-based control and performance-based control. Besides, as advanced control strategies, robust control and passivity-based control...

The paper deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the selection of optimal measurement poses for calibration experiments. The advantages of the developed technique are illustrated by simulation examples that deal with t...

This paper extends the Operational Space Formulation to the important class of serial-to-parallel chain (branching) manipulators. The various models and concepts developed in operational space, such as Dynamically Consistent Force/Torque Decomposition for control of redundant manipulators and the Augmented Object Model for cooperative manipulator systems, are shown to extend directly. Dynamic m...