Abstract: Presented in this paper is a method for controlling vibrations of a redundant flexible-joint manipulator. The main idea behind this method is to utilize joint redundancy to minimize the change ...

Abstract: This paper presents a real-time method for solving the forward kinematics of a tripod with fixed-length legs. The basic idea is to model the problem at hand based on a spatial four-bar linkage ...

Abstract: Robotic applications in aerospace manufacturing and aircraft assembly today are limited. This is because most of the aircraft parts are relatively crowded and have complex shapes that make tasks like robotic drilling and ...

Abstract: This paper proposes a method to find the preferable workspace for fatigue life improvement of robots with flexible joints under percussive riveting. The development is motivated by the growing interest in using industrial ...

Abstract: Presented in this paper is a feature-based method for selecting an optimal (minimum yet sufficient) set of modules necessary to form a reconfigurable machine tool for producing a part family. ...

Abstract: In this paper the effect of leg inertia on hexapod dynamics is investigated. Hexapods under investigation are a new type that is made of sliding legs with constant lengths. A complete dynamic ...

Abstract: This paper studies the problem of the nonstationary vibration of a fully flexible parallel kinematic machine (PKM) that has flexibilities both in links and in joints. In the stationary case, ...

Abstract: This paper presents a new method for the combined topological and geometric reconfiguration of a parallel robot to achieve taskbased reconfiguration. Using the existing structure of a six degreeoffreedom (DOF) parallel ...

Abstract: Unlike a traditional yeaechanism, where typically only the pose of the moving platform is of significance, a shape-morphing mechanism requires additional provisions. Mainly, any covers or skin panels that enclose the ...

Abstract: In this paper, an adaptive controller is developed for the pressure tracking of the pressurized toolhead in order to maintain the constant contact stress for the polishing process. This is a ...