Abstract: A general framework is presented for the study of the properties of trajectories generated by points embedded in rigid bodies undergoing multi-degrees-of-freedom motions. Quantities are developed ...

Abstract: A general framework is presented for the study of the properties of trajectories generated by lines embedded in rigid bodies undergoing multi-degrees-of-freedom motions. Several new concepts, such ...

Abstract: It is known in literature that a wheeled mobile robot (WMR), with fixed length axle, will undergo slip when it negotiates an uneven terrain. However, motion without slip is desired in WMR’s, ...

Abstract: In this paper, we present a differential-geometric approach to analyze the singularities of task space point trajectories of two and three-degree-of-freedom serial and parallel manipulators. At ...

Abstract: The recursive forward dynamics algorithm (RFDA) for a tree structured rigid multibody system has two stages. In the first stage, while going down the tree, certain equations are associated with ...

Abstract: The 4×4 homogeneous transformation matrix is extensively used for representing rigid body displacement in 3D space and has been extensively used in the analysis of mechanisms, serial and ...

Abstract: This paper deals with nonlinear modeling of planar one- and two-link, flexible manipulators with rotary joints using finite element method (FEM) based approaches. The equations of motion are ...

Abstract: Hyper-redundant robots are characterized by the presence of a large number of actuated joints, a lot more than the number required to perform a given task. These robots have been proposed and ...