The wrench feasibility and twist are the workspace conditions that indicate whether mobile-platform (MP) of cable-driven parallel robots (CDPRs) can provide a sufficient amount twist. Traditionally, these two quantities evaluated independently from actuator's torque speed limits, which assumed to be fixed in literature, but they are, indeed, coupled. This results conservative usage actuator cap...

The paper presents force-torque interpretations in intermediary telepresence for remote manipulation. Methods of reconstruction of force-torque data and algorithms to depict contact forces are presented in this paper. Real time force trajectory, the accuracy of the force trajectory and the state of the remote site in terms of wrench state are also described. In addition, options to take correct...

We present a framework to enable a fleet of rigidly attached quadrotor aerial robots to transport heavy objects along a known reference trajectory without interrobot communication or centralized coordination. Leveraging a distributed wrench controller, we provide exponential stability guarantees for the entire assembly, under a mild geometric condition. This is achieved by each quadrotor indepe...

The recent advent of angular optical trapping techniques has allowed for rotational control and direct torque measurement on biological substrates. Here we present a method that increases the versatility and flexibility of these techniques. We demonstrate that a single beam with a rapidly rotating linear polarization can be utilized to apply a constant controllable torque to a trapped particle ...

A framework tackling the problem of large wrench application using robotic systems with limited force or torque actuators is presented. It is shown that such systems can Ž . apply a wrench to a limited set of Cartesian locations called force workspace FW , and its force capabilities are improved by employing base mobility and redundancy. An efficient numerical algorithm based on 2 -tree decompo...

An ensemble of screws is known as a screw system, and is deened by a set of n 6 independent basis screws. The order of a screw system is equal to the number of basis screws required to deene it; such a system is also called an n-system. The order of a screw system reciprocal to an n-system is (6 ? n). With an innnitesimal rigid motion of an object in three-dimensional Euclidean space there is a...