Now showing items 31-35 of 35
Virtual prototyping for robot controllers
Production of a new mechanism involves design, manufacturing and testing phases. In order to achieve shorter turn-around times, researchers have studied methods of shortening these phases. Today, structural tests and ...
Derivation of input/output relationships for the Bennett 6R linkages based on the method of decomposition
The Bennett overconstrained 6R linkages are the double-planar, the double-spherical and the plano-spherical 6R linkages. These mechanisms are obtained by combining simple planar and/or spher-ical mechanisms and then removing ...
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 ...
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 ...