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Journal Articles

Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots

Jianqing Peng, Haoxuan Wu, Darwin Lau
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011013.
Paper No: JMR-22-1005
DOI: https://doi.org/10.1115/1.4054634
Published Online: June 6, 2022
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Topics: Cables, Dynamics (Mechanics), Iterative learning control, Trajectories (Physics), Errors, Robots
Proceedings Papers

Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme

Vishal Ramadoss, Darwin Lau, Dimiter Zlatanov, Matteo Zoppi
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A029, August 17–19, 2020
Paper No: DETC2020-22502
DOI: https://doi.org/10.1115/DETC2020-22502
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Topics: Cables, Robots, Chain, Kinematics, Degrees of freedom, Design, Manipulators, Parallel mechanisms, Statics
Journal Articles

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo
Journal: Journal of Mechanical Design
Article Type: Research-Article
J. Mech. Des. September 2019, 141(9): 092305.
Paper No: MD-18-1547
DOI: https://doi.org/10.1115/1.4043932
Published Online: July 19, 2019
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Topics: Actuators, Failure, Jacobian matrices, Robots, Robotics, Cables, End effectors, Grasping, Optimization
Journal Articles

Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators

Darwin Lau, Denny Oetomo
Journal: Journal of Mechanical Design
Article Type: Research-Article
J. Mech. Des. March 2016, 138(3): 032303.
Paper No: MD-15-1432
DOI: https://doi.org/10.1115/1.4032402
Published Online: January 27, 2016
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Topics: Cables, Manipulators
Journal Articles

Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach

Darwin Lau, Denny Oetomo, Saman K. Halgamuge
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. July 2011, 133(7): 071004.
DOI: https://doi.org/10.1115/1.4004222
Published Online: July 8, 2011
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Topics: Cables, Manipulators