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Keywords: kinematic redundancy
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Journal Articles

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031007.
Paper No: JMR-22-1497
DOI: https://doi.org/10.1115/1.4056830
Published Online: March 27, 2023
.... This paper proposes a kinematic redundant robot composed of a novel two degrees-of-freedom mechanism with a closed kinematic chain. After describing a task-priority inverse kinematic control framework used for joint trajectory planning exploiting the robot kinematic redundancy, the paper analyses...
View Article titled, Kinetostatic Optimization for <span class="search-highlight">Kinematic</span> <span class="search-highlight">Redundancy</span> Planning of Nimbl’Bot Robot
Click here to open pdf in another window PDF for Kinetostatic Optimization for <span class="search-highlight">Kinematic</span> <span class="search-highlight">Redundancy</span> Planning of Nimbl’Bot Robot
Topics: Kinematics, Optimization, Robots, Trajectories (Physics), Redundancy (Engineering)
Journal Articles

Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform

Bahman Nouri Rahmat Abadi, Juan A. Carretero
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021004.
Paper No: JMR-21-1558
DOI: https://doi.org/10.1115/1.4054614
Published Online: June 21, 2022
...Bahman Nouri Rahmat Abadi; Juan A. Carretero Kinematic redundancy can be exploited to improve the performance of parallel mechanisms. Nevertheless, motion planning and control of kinematically redundant parallel mechanisms (KRPMs) are the challenging problems. In this research, a novel class...
View Article titled, Modeling and Real-Time Motion Planning of a Class of <span class="search-highlight">Kinematically</span> <span class="search-highlight">Redundant</span> Parallel Mechanisms With Reconfigurable Platform
Click here to open pdf in another window PDF for Modeling and Real-Time Motion Planning of a Class of <span class="search-highlight">Kinematically</span> <span class="search-highlight">Redundant</span> Parallel Mechanisms With Reconfigurable Platform
Topics: Actuators, Grasping, Kinematics, Parallel mechanisms, Path planning, Redundancy (Engineering), Trajectories (Physics), Kinematic analysis, Artificial neural networks
Journal Articles

Dexterous Workspace of n- PR RR Planar Parallel Manipulators

André Gallant, Roger Boudreau, Marise Gallant
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2012, 4(3): 031009.
DOI: https://doi.org/10.1115/1.4006873
Published Online: July 2, 2012
...André Gallant; Roger Boudreau; Marise Gallant In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n- PR RR (n- PR RR indicates that the manipulator consists of n serial kinematic chains that connect the base to the end-effector...
View Article titled, Dexterous Workspace of n- PR RR Planar Parallel Manipulators
Click here to open pdf in another window PDF for Dexterous Workspace of n- PR RR Planar Parallel Manipulators
Topics: Kinematic chains, Manipulators