Abstract: A new formulation for direct kinematics of a system of two manipulators is presented This allows a straightforward description of general coordinated motion tasks in terms of meaningful absolute ...

Abstract: The dynamic manipulability ellipsoid is a common tool in robotics to measure the ability of a manipulator to produce arbitrary accelerations of the end-effector for a given set of torques at ...

Abstract: Lightweight flexible arms will most likely constitute the next generation robots. The design key is the adoption of flexible links, rather than rigid links like in today’s industrial robots. ...