In many unmanned aerial vehicle (UAV) applications for surveillance and data collection, it is not possible to reach all requested locations due the given maximum flight time. Hence, must be prioritized problem of selecting most important modeled as an Orienteering Problem (OP). To fully exploit kinematic properties UAV in such scenarios, we combine OP with generation time-optimal trajectories ...

In this paper two methods are presented. The first is a kinematic evaluation method for two different hexapod structures: standard Stewart platform manipulator with extensible struts and second structure with fixed strut lengths but sliding guideways on fixed platform. The second method addresses the forward kinematic problem where different mathematical representations are combined with variou...

Designing trajectories for a submerged rigid body motivates this paper. Two approaches are addressed: the time optimal approach and the motion planning approach using concatenation of kinematic motions. We focus on the structure of singular extremals and their relation to the existence of rank-one kinematic reductions; thereby linking the optimization problem to the inherent geometric framework...

231  Abstract—The kinematic of serial manipulators comprises the study of the relations between joint variables and Cartesian variables. We distinguish two problems, commonly referred to as the direct and inverse kinematic problems. The former reduces matrix multiplications, and poses no major problem. The inverse kinematic problems, however, is more challenging, for it involves intensive vari...

In this paper, a new 6-dof parallel haptic master device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design problem is performed for this mechanism. Dexterous workspa...

Parameter determination and optimization play an important role for parallel kinematic machines since the machines properties depend significantly on an appropriate choice of the geometry. In this paper, the design of parallel machines is formulated in terms of a global constrained optimization problem, where the constraints are deduced from imperative process requirements e.g. size of the work...

relationships in such a way as to yield a system of equations which describes the velocity and angular velocity of the manipulated object as functions of the robot's joint velocities. The inverse kinematic problem results in a system of equations describing the joint velocities as functions of the object's translational and angular velocities. In both cases it is assumed that the positions of t...

This paper presents the dynamic modeling of a nonholonomic mobile robot and the dynamic stabilization problem. The dynamic model is based on the kinematic one including nonholonomic constraints. The proposed control strategy allows to solve the control problem using linear controllers and only requires the robot localization coordinates. This strategy was tested by simulation using Matlab-Simul...