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RISDetermination of the Inverse Kinematics Branches of Solution Based on Joint Coordinates for Universal Robots-Like Serial Robot Architecture
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces a classification of the inverse kinematics solutions (or robot postures) of six degrees-of-freedom serial robots with a geometry based on or similar to Universal Robots’ arms. The solution of the ...
Passively Driven Redundant Spherical Joint With Very Large Range of Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a novel passive redundant spherical joint with a very large range of motion. A kinematic model is first developed in order to provide a framework for the analysis. The principle of the redundant joint ...
Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents methods to exploit the redundancy of a kinematically redundant spatial parallel mechanism with three redundant DOFs. The architecture of the mechanism is similar to the well-known Gough–Stewart (GS) ...
Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper presents methods to exploit the redundancy of a kinematically redundant spatial parallel mechanism with three redundant DOFs. The architecture of the mechanism is similar to the well-known Gough–Stewart (GS) ...