Abstract: Underactuated manipulators are robot manipulators composed of both active and passive joints in serial chain mechanisms. The study of underactuation is significant for the control of a variety ...

Abstract: A robotic complaint wrist which combines a passive compliance device and a displacement sensor has been developed and tested. The device provides the necessary flexibility to accommodate transitions ...

Abstract: In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-base manipulator which preserves both its dynamic and kinematic properties. ...