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: Numerical and observational evidence indicates that, in regions where mixed layer instability is active, the surface geostrophic velocity is largely induced by surface buoyancy anomalies. Yet, in these regions, the observed ...

Abstract: A forward displacement analysis in closed-form is performed for each case of a class of Stewart Platform mechanisms. This class of mechanisms, which are classified into three cases, are called ...

Abstract: This paper presents a novel, practical, and theoretically sound kinematic control strategy for serial redundant manipulators. This strategy yields repeatability in the joint space of a serial ...