A systematic study is performed for the workspace characteristics and orientation capability analysis of 3R planar manipulators. This study will aid the design and control of this kind of manipulators. This particular manipulator is well suited for industrial applications in aided automation manufacturing as well as medical applications for orthopaedic surgery robotics and micro holder for tact...

The present study aims to explore the adaptation of estimation methodologies, specifically Particle filters and Kalman filters, for purpose determining position velocity vector obstacles within operational workspace mobile robots. These algorithms are commonly employed in motion planning tasks robots their own position. proposed methodology utilizes LiDAR sensor data estimate vectors calculate ...

This paper presents the kinematic design of a translational parallel mechanism (PM) named Vari-Orthoglide by means workspace superposition, according to sub-kinematic chain (SKC) based PM composition principle. The main topological characteristics manipulator with two SKCs under study, such as position and orientation (POC) characteristics, degree freedom (DOF) coupling are analyzed, which turn...

A novel methodology for the calculation, visualisation and analysis of the Reconfigurable Machinery Efficient Workspace (RMEW), based on the twist angles, is presented in this paper. The machinery’s kinematic parameters are used for calculating the workspace, while the efficient workspace is associated with the machinery’s path and includes the endeffector position and orientation. To analyse a...

Considering the uniformity of cable tension variation, in this paper, trajectory planning problem exit point for a continuously reconfigurable four-cable-driven two-degrees-of-freedom (DOF) parallel mechanism was studied. Furthermore, an improved quadratic programming model-based method is proposed, which greatly reduces change and can be used to solve excessive when existing moves on moving pl...

In this work, a new constrained numerical optimization approach is proposed for solving offline the Inverse Kinematics Problem (IKP) of articulated robots, which consists on optimizing joint displacement while end effector positioned and oriented in desired pose. The novelty formulation problem, where objective function calculates minimum displacement, with position orientation errors handled a...

In the broad design space of telepresence systems, we are interested in contexts where users collaborate over a shared workspace. Our work involving connecting distributed touch surfaces (e.g. distributed tabletops) has shed light on the problem of supporting reference space—the ability of collaborators to point at, and refer to objects in the workspace. A promising approach to support this ges...

The development of industrial robots in high-precision fields is currently constrained by the reliability motion. Considering influence joint clearance on motion robot, kinematic model robot established, equation deduced, and positive solutions are performed. non-probability positioning accuracy measure a end-effector proposed, based theory method, combined with prescribed permission interval e...

Mixed presence groupware (MPG) allows collocated and distributed teams to work together on a shared visual workspace. Presence disparity arises in MPG because it is harder to maintain awareness of remote collaborators compared to collocated collaborators. We examine the role of one’s body in collaborative work and how it affects presence disparity, articulating four design implications for embo...

In this paper we introduce four new posture-dependent performance indices for control. Two of them are based on an object-oriented metric in the workspace (endeffector dependent) and the other on a linearized approximation of direct kinematics (end-effector independent). All newly defined indices are invariant under rigid-body motions and similarities, they have a geometric meaning, and they ca...