Abstract: The principle of transference states that when dual numbers replace real ones all laws of vector algebra, which describe the kinematics of rigid body with one point fixed, are also valid for ...

Abstract: This paper deals with the development of kinematic algorithms for the control of sensor-equipped robots. The kinematics is solved in the sensor coordinate system, which reduces the computation ...

Abstract: This investigation deals with singularity analysis of parallel manipulators and their instantaneous behavior while in or close to a singular configuration. The method presented utilizes line ...

Abstract: This paper presents a closed-form formulation and geometrical interpretation of the derivatives of the Jacobian matrix of fully parallel robots with respect to the moving platforms’ position/orientation ...