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Proceedings Papers

Collocation Algorithm for Solving Equations of Motion of Multibody Mechanical Systems

Hajrudin Pasic, Robert L. Williams, II, Chunwu Hui, Russell Moody

Proc. ASME. IMECE98, Dynamic Systems and Control, 45-50, November 15–20, 1998

Paper No: IMECE1998-0232

DOI: https://doi.org/10.1115/IMECE1998-0232

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Topics: Algorithms, Equations of motion, Algebra, Polynomials, Approximation, Multibody dynamics, Newton's method

Proceedings Papers

Cable-Suspended Haptic Interface

Robert L. Williams, II

Proc. ASME. IMECE98, Dynamic Systems and Control, 207-212, November 15–20, 1998

Paper No: IMECE1998-0256

DOI: https://doi.org/10.1115/IMECE1998-0256

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Topics: Cables, Haptics, Feedback, Virtual reality

Proceedings Papers

The Double Universal Joint Wrist on a Manipulator: Inverse Position Kinematics and Singularities

Robert L. Williams, II

Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 355-360, September 11–14, 1994

Paper No: DETC1994-0343

DOI: https://doi.org/10.1115/DETC1994-0343

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Topics: Kinematics, Manipulators, Universal joints, Robots

Proceedings Papers

Survey of Active Truss Modules

Robert L. Williams, II

Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 899-906, September 17–20, 1995

Paper No: DETC1995-0118

DOI: https://doi.org/10.1115/DETC1995-0118

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Topics: Trusses (Building), Design, Manipulators

Proceedings Papers

Follow-the-Leader Control for the Payload Inspection and Processing System

Robert L. Williams, II, Gabor Tamasi

Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A057, August 18–22, 1996

Paper No: 96-DETC/MECH-1168

DOI: https://doi.org/10.1115/96-DETC/MECH-1168

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Topics: Inspection, Algorithms, Manipulators, Trajectories (Physics), Collisions (Physics), Engineering prototypes, Hardware, NASA, Space vehicles, Testing

Proceedings Papers

Control of Truss-Based Manipulators Using Virtual Serial Models

Robert L. Williams, II, James B. Mayhew, IV

Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A058, August 18–22, 1996

Paper No: 96-DETC/MECH-1169

DOI: https://doi.org/10.1115/96-DETC/MECH-1169

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Topics: Manipulators, Trusses (Building), Kinematics, Chain, Optimization, Real-time control, Redundancy (Engineering), Trajectories (Physics)

Proceedings Papers

Kinetostatic Analysis for the Ross Yoke-Drive Stirling Engine

Robert L. Williams, II

Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A070, August 18–22, 1996

Paper No: 96-DETC/MECH-1197

DOI: https://doi.org/10.1115/96-DETC/MECH-1197

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Topics: Stirling engines, Design, Dynamics (Mechanics), Kinematics

Proceedings Papers

Inverse Kinematics for Planar Parallel Manipulators

Robert L. Williams, II, Brett H. Shelley

Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A007, September 14–17, 1997

Paper No: DETC97/DAC-3851

DOI: https://doi.org/10.1115/DETC97/DAC-3851

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Topics: Kinematics, Manipulators, Chain, End effectors, Algebra, Computation, Degrees of freedom, Jacobian matrices, Simulation

Proceedings Papers

Naturally-Transitioning Rate-to-Force Control

Robert L. Williams, II, Mark A. Murphy

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A003, September 13–16, 1998

Paper No: DETC98/MECH-5870

DOI: https://doi.org/10.1115/DETC98/MECH-5870

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Topics: Control equipment, Design, Manipulators, Modeling

Proceedings Papers

Singularities of a Manipulator With Offset Wrist

Robert L. Williams, II

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A013, September 13–16, 1998

Paper No: DETC98/MECH-5873

DOI: https://doi.org/10.1115/DETC98/MECH-5873

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Topics: Manipulators

Proceedings Papers

A Simple Algorithm for Controlling Manipulators

Liming Yue, Hajrudin Pasic, Robert L. Williams, II

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A004, September 13–16, 1998

Paper No: DETC98/MECH-5871

DOI: https://doi.org/10.1115/DETC98/MECH-5871

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Topics: Algorithms, Manipulators, Engineering simulation, Linear systems, Nonlinear systems, Simulation, Simulation results

Proceedings Papers

Numerical Solution for Manipulator Forward Dynamics BVPs

Hajrudin Pasic, Robert L. Williams, II, Chunwu Hui

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A068, September 13–16, 1998

Paper No: DETC98/MECH-5872

DOI: https://doi.org/10.1115/DETC98/MECH-5872

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Topics: Dynamics (Mechanics), Manipulators, Algorithms, Boundary-value problems, Differential equations, Multibody dynamics

Proceedings Papers

Planar Cable-Suspended Haptic Interface: Design for Wrench Exertion

Robert L. Williams, II

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1419-1426, September 12–16, 1999

Paper No: DETC99/DAC-8639

DOI: https://doi.org/10.1115/DETC99/DAC-8639

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Topics: Cables, Design, Haptics, Tension, Computer simulation, Redundancy (Engineering), Robots, Stiffness, Weight (Mass)

Proceedings Papers

Cartesian Control for the Inertial Measurement Unit Calibration Platform

John J. Hall, Robert L. Williams, II, Frank van Graas

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 569-575, September 10–13, 2000

Paper No: DETC2000/MECH-14112

DOI: https://doi.org/10.1115/DETC2000/MECH-14112

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Topics: Calibration, Measurement units and standards, Avionics, Mechanical engineering, Yaw

Proceedings Papers

Spherically-Actuated Platform Manipulator

Robert L. Williams, II, Dana B. Poling

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 561-568, September 10–13, 2000

Paper No: DETC2000/MECH-14111

DOI: https://doi.org/10.1115/DETC2000/MECH-14111

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Topics: Manipulators, Chain, Kinematics, Actuators, Hardware, NASA

Proceedings Papers

Planar Cable-Direct-Driven Robots: Part I — Kinematics and Statics

Robert L. Williams, II, Paolo Gallina

Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 1233-1240, September 9–12, 2001

Paper No: DETC2001/DAC-21145

DOI: https://doi.org/10.1115/DETC2001/DAC-21145

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Topics: Cables, Kinematics, Robots, Statics, Redundancy (Engineering), Manipulators, Modeling

Proceedings Papers

Planar Cable-Direct-Driven Robots: Part II — Dynamics and Control

Paolo Gallina, Aldo Rossi, Robert L. Williams, II

Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 1241-1247, September 9–12, 2001

Paper No: DETC2001/DAC-21146

DOI: https://doi.org/10.1115/DETC2001/DAC-21146

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Topics: Cables, Dynamics (Mechanics), Robots, Control equipment, Feedforward control, Redundancy (Engineering), Actuators, Errors, Inertia (Mechanics), Kinematics

Proceedings Papers

Eight-Cable Robocrane Extension for NASA JSC ARGOS

Robert L. Williams, II, Eric Graf

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A062, August 17–19, 2020

Paper No: DETC2020-22052

DOI: https://doi.org/10.1115/DETC2020-22052

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Topics: Cables, NASA, National Institute of Standards and Technology, Robots, Stiffness

Proceedings Papers

Cable-Suspended Robot for Algae Harvesting

Robert L. Williams, II, Jesus Pagan

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A063, August 17–19, 2020

Paper No: DETC2020-22053

DOI: https://doi.org/10.1115/DETC2020-22053

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Topics: Biofuel, Cables, Robots

Proceedings Papers

Forward and Inverse Position Kinematics for the R RSS R Parallel Robot With Hardware Validation

Robert L. Williams, II, Ryan Lucas, J. Jim Zhu

Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A058, August 21–24, 2016

Paper No: DETC2016-59290

DOI: https://doi.org/10.1115/DETC2016-59290

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Topics: Hardware, Kinematics, Robots, Design, Servomotors, Simulation

Journal citation

NARROW

Collocation Algorithm for Solving Equations of Motion of Multibody Mechanical Systems

Cable-Suspended Haptic Interface

The Double Universal Joint Wrist on a Manipulator: Inverse Position Kinematics and Singularities

Survey of Active Truss Modules

Follow-the-Leader Control for the Payload Inspection and Processing System

Control of Truss-Based Manipulators Using Virtual Serial Models

Kinetostatic Analysis for the Ross Yoke-Drive Stirling Engine

Inverse Kinematics for Planar Parallel Manipulators

Naturally-Transitioning Rate-to-Force Control

Singularities of a Manipulator With Offset Wrist

A Simple Algorithm for Controlling Manipulators

Numerical Solution for Manipulator Forward Dynamics BVPs

Planar Cable-Suspended Haptic Interface: Design for Wrench Exertion

Cartesian Control for the Inertial Measurement Unit Calibration Platform

Spherically-Actuated Platform Manipulator

Planar Cable-Direct-Driven Robots: Part I — Kinematics and Statics

Planar Cable-Direct-Driven Robots: Part II — Dynamics and Control

Eight-Cable Robocrane Extension for NASA JSC ARGOS

Cable-Suspended Robot for Algae Harvesting

Forward and Inverse Position Kinematics for the R RSS R Parallel Robot With Hardware Validation

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