Now showing items 31-35 of 35
On the formulation of parallel position/force control schemes for industrial manipulators
(Shaker Verlag, 2012)
In this paper, three commonly-used position/force control schemes namely Impedance, Admittance and Hybrid Position/Force control are investigated for use in industrial manipulators. In order to eliminate the instability ...
Integration of the hybrid-structure haptic interface: HIPHAD v1.0
(Curran Associates, 2010)
Design, manufacturing, integration and initial test results of the 6-DoF haptic interface, HIPHAD v1.0, are presented in this paper. The hybrid haptic robot mechanism is composed of a 3-DoF parallel platform manipulator, ...
A comparative study on application of decomposition method in function generation synthesis of over-constrained mechanisms
Double-spherical six-bar linkage is one of the Bennett over-constrained 6R linkages. Kinematic synthesis of such linkages can be tedious and impossible to solve for analytically. In order to cope with higher number of ...
Manipulator design for a haptic system with improved performance
This paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in ...
The ARROWS Project: Robotic technologies for underwater archaeology
(Institute of Physics Publishing, 2018-06)
The paper summarizes the main results achieved during the three-year European FP7 ARROWS project (ARchaeological RObot systems for the Worlds Seas). ARROWS concluded at the end of August 2015 and proposed to adapt and ...