The Coalitional Manipulation problem has been studied extensively in the literature for many voting rules. However, most studies have focused on the complete information setting, wherein the manipulators know the votes of the non-manipulators. While this assumption is reasonable for purposes of showing intractability, it is unrealistic for algorithmic considerations. In most real-world scenario...

The Coalitional Manipulation (CM) problem has been studied extensively in the literature for many voting rules. The CM problem, however, has been studied only in the complete information setting, that is, when the manipulators know the votes of the non-manipulators. A more realistic scenario is an incomplete information setting where the manipulators do not know the exact votes of the nonmanipu...

the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...

In this chapter we deal with the problem of robust position control for cooperative manipulators rigidly connected to an undeformable load. Design paradigms to solve force/position control problems have been established in the literature to improve the performance of the cooperation. In [8] a control strategy for cooperative manipulators was proposed based on the independence of the position an...

Parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. These parameters are particularly needed in implementation of a model-based controller for robot manipulators. In this paper, the inertial parameters of a manipulated rigid-body object have been estimated. The Newton-Euler equations will be employe...

A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. This paper reviews the well-known methods used to find the inverse kinematics of redundant manipulators. Because redundant manipulators have infinite solutions for their inverse kinematics, therefore the conventional method that was used to calculate the inverse kin...

In this paper, the new concept of the dynamic singular configuration of flexible manipulators is proposed. When we control flexible manipulators using the inverse dynamics method, we need to consider this dynamic singular configuration of flexible manipulators. Without considering it, the control around the dynamic singular configuration may become unstable. As an example, we derive the dynamic...

This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make possible a nonsingular change of assembly mode. The purpose of this study is twofold. First, it...

Parallel manipulators which are singular with respect to the Schönflies motion group X(a) are called Schönflies-singular, or more precisely X(a)-singular, where a denotes the direction of the rotary axis. A special class of such manipulators are architecturally singular ones because they are singular with respect to any Schönflies group. Another remarkable set of Schönfliessingular planar paral...

Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number leads, under certain conditions, to isotropic configurations, for which the roundoff-error amplification is lowest. In this paper, the isotropy conditions, introduced elsewhere, are the motivation b...