Now showing items 11-13 of 13
Trajectory planning for a planar macro-micro manipulator of a laser-cutting machine
(Emerald Group Publishing, 2016-08-15)
Purpose-In the industry, there is always a demand to shorten the task completion durations to maximize the efficiency of the operation. This work focuses on making use of a special type of kinematic redundancy, macro-micro ...
Trajectory planning for a redundant planar laser-cutting machine with macro-micro manipulation
Kinematic redundancy in robots provide the control designer with infinite number of possibilities for improving the process for a selected target optimization criterion. A special type of kinematic redundancy is devised ...
Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication
(Cambridge University Press, 2017-05)
SUMMARY In this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees ...