Abstract: A new approach to the design of an assembly end effector for the high-speed insertion of a peg into a chamfered hole is presented. The peg is supported by a special mechanical hand that ...

Abstract: A new ball wheel design for fully mobile omnidirectional vehicles is presented. This ball wheel mechanism yields a unique vehicle design that is not only omnidirectional with no kinematic ...

Abstract: A computer-aided design method for modifying the mechanical structure of electromechanical systems, e.g., robots and positioning systems, is presented in this paper. The pole-zero locations and ...

Abstract: This paper presents a model-based approach to the recognition of discrete state transitions for robotic assembly. Sensor signals, in particular, force and moment, are interpreted with reference ...

Abstract: The inverse dynamics of robot manipulators based on flexible arm models are considered. Actuator torques required for a flexible arm to track a given trajectory are formulated and computed by ...

Abstract: A new approach to process modeling, task synthesis, and motion control for robotic assembly is presented. Assembly is modeled as a discrete event dynamic system using Petri nets, incorporating ...

Abstract: A new approach to process modeling, task synthesis, and trajectory planning for robotic assembly is presented. Assembly is modeled as a discrete event dynamic system incorporating both discrete ...

Abstract: This paper presents kinematic and dynamic analysis of a holonomic vehicle with continuously-variable transmission. Four ball wheels, independently actuated by DC motors, enable for moving the ...

Abstract: A novel approach to stable adaptive control of complex systems with high relative orders is presented. A series of reference inputs are designed so that the system can learn control parameters ...