Abstract: A method is developed to resolve the redundancy of serial robotic manipulators. The main characteristics of this method are as follows: (a) The solution is conservative (unique); (b) It globally ...

Abstract: A kinematic calibration model for serial robotic manipulators is presented. This model is based on the zero position analysis method, and is not prone to the difficulties encountered in case ...

Abstract: In this paper we examine the sensitive dependence on the initial conditions of the Newton-Raphson search technique. It is demonstrated that this sensitivity has a fractal nature which can be ...

Abstract: The manipulability of robot manipulators has been studied with respect to the ability to position the end-effector in its workspace. However, since manipulators have to manipulate objects with ...