Abstract: For a general J wheeled mobile platform capable of up to three-degrees-of-freedom planar motion, there are up to two J independent input parameters yet the output of the platform is completely ...

Abstract: In this paper we present the force distribution analysis for a dual input actuator called parallel force/velocity actuator (PFVA). We present five physical quantities that are relevant to the ...

Abstract: In this paper, a method to manage the actuator parameters of a serial chain mechanism composed of revolute joints to achieve improved responsiveness characteristics (acceleration capability) based ...

Abstract: In this paper we introduce a dual-input actuator, based on an epicyclic gear train, called parallel force∕velocity actuator (PFVA) designed for variable response manipulation. The focus of this ...

Abstract: In this article, a description of the kinetic energy partition values (KEPVs) of serial chain mechanisms, as well as their rates of change, is presented. The KEPVs arise from the partitioning ...

Abstract: A serial robotic manipulator arm is a complex electromechanical system whose performance is characterized by its actuators. The actuator itself is a complex nonlinear system whose performance can ...

Abstract: The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of ...

Abstract: Although serial manipulator arms modeled with rigid links show full system controllability in the joint space, this condition does not necessarily hold for flexible robotic systems. In particular, ...