Optical tracking provides relatively high accuracy over a large workspace but requires line-of-sight between the camera and the markers, which may be difficult to maintain in actual applications. In contrast, inertial sensing does not require line-of-sight but is subject to drift, which may cause large cumulative errors, especially during the measurement of position. To handle cases where some ...

BACKGROUND The concept of reachable workspace is closely tied to upper limb joint range of motion and functional capability. Currently, no practical and cost-effective methods are available in clinical and research settings to provide arm-function evaluation using an individual's three-dimensional (3D) reachable workspace. A method to intuitively display and effectively analyze reachable worksp...

A novel 3-PUU parallel robot was put forward, on which kinematic analysis was conducted to obtain its inverse kinematics solution, and on this basis, the limitations of the sliding pair and the Hooke joint on the workspace were analyzed. Moreover, the workspace was solved through the three dimensional limit search method, and then optimization analysis was performed on the workspace of this par...

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the manipulator. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters space is shown to ...

This paper presents kinematic analysis of B class of parallel manipulators, namely, Hexaslides, for machine tool applications. Hexaslides have constant-length legs. The inverse and direct kinematics solutioos, to study the workspace properties of hexaslides are presented. Various kinematic performance indices, namely, workspace volume, workspace volume index i.e., the ratio of workspace volume ...

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The classification criteria are based on the topology of the workspace. Each group is evaluated according to interesting kinematic properties such as the size of the...

Distributed software modeling is common today, although geographically separated designers need to overcome several communication challenges. Software designers typically use version control systems (VCSs) to integrate their work. However, existing VCSs do not continuously inform all designers of new design decisions and conflicts. Designers often introduce conflicts precisely because they are ...

This paper presents a computer model of cortical broadcast and competition based on spiking neurons and inspired by the hypothesis of a global neuronal workspace underlying conscious information processing in the human brain. In the model, the hypothesised workspace is realised by a collection of recurrently interconnected regions capable of sustaining and disseminating a reverberating spatial ...

Nonholonomic behavior is observed in free-floating manipulator systems, and is due to the nonintegrability of the angular momentum. Free-floating manipulators exhibit dynamic singularities which cannot be predicted by the kinematic properties of the system and whose location in the workspace is path dependent. Trouble-free Path Independent Workspaces are defined. A joint space planning techniqu...

A fundamental feature of a manipulator is the capacity of its workspace because it influences on the manipulator design, in the manipulator position in the work environment and in the its dexterity. In the case of 3R manipulators, it is represented by a revolution solid. Thus, in this paper the workspace volume is calculated based on the area of its radial section. An optimization problem is fo...