Abstract: Input-output displacement equations of eighth degree are derived for general spatial seven-link (RPPRRRR, RRRPPRR), (RPRRRPR, RPRRPRR), and (RPRPRRR) mechanisms. The results are verified by numerical ...

Abstract: Many kinds of robot arms with five degrees of freedom are widely used in industry for arc welding, spray painting, assembling etc. It is necessary to be able to compute joint displacements ...

Abstract: Three necessary conditions derived from classical geometry are proposed to evaluate formulations for the simultaneous twist and wrench control of rigid bodies, and for any theory to be meaningful ...

Abstract: The algorithm developed in [1] for searching for extreme distance lines of robot arms with arbitrary skew joint axes can fail when applied to arms with special geometry. In this paper, ...

Abstract: In this paper the following two theorems are proved; 1) All intermediate joint axes of a robot arm with arbitrary number of joints intersect an extreme distance line between an arbitrary base ...

Abstract: A new theory for the simultaneous control of force and displacement for a partially constrained end-effector is established based upon the general spatial stiffness of the manipulator. In general, ...

Abstract: In analogy with a spherical (spatial) triangle there are only three fundamental loop equations for any spherical (spatial) polygon, namely the real (dual) sine, sine-cosine, and cosine laws. All ...

Abstract: This paper is the first of a series of papers developing a theory for the articulation of planar robots. Here, end effectors are considered to be moving on specified trajectories regardless ...

Abstract: This paper presents a motion planning procedure for planar robots which provides the robots with abilities to change flexure (i.e., to articulate) and hence to avoid interference with other ...