Abstract: Sliding mode control is a very attractive control scheme with strong robustness to structured and unstructured uncertainties as well as to external disturbances. In this paper, a robust fuzzy ...

Abstract: This paper presents a general and systematic approach for geometric error modeling of lower mobility manipulators. The approach can be implemented in three steps: (1) development of a linear ...

Abstract: This paper presents a new approach to the velocity and acceleration analyses of lower mobility parallel manipulators. Building on the definition of the “acceleration motor,” the forward and ...

Abstract: Taking the 3DOF parallel mechanism within the Tricept robot as an example, this paper presents an analytical approach for the stiffness modeling of parallel kinematic machines having a properly ...

Abstract: This paper deals with the conceptual and kinematic designs of a 5-degree of freedom (DOF) reconfigurable hybrid robot. The robot is composed of a 2-DOF parallel spherical mechanism that is ...