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 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 ...