Abstract: Although the concepts of Jacobian matrix, manipulability, and condition number have existed since the very early beginning of robotics their real significance is not always well understood. In ...

Abstract: Singularity is a major problem for parallel robots as in these configurations the robot cannot be controlled, and there may be infinite forces/torques in its joints, possibly leading to a robot ...

Abstract: This paper addresses the problem of certifying the performance of a precision flexure-based mechanism design with respect to the given constraints. Due to the stringent requirements associated ...