— The reduction of the kinematics and/or dynamics of a high-DOF robotic manipulator to a low-dimension “task space” has proven to be an invaluable tool for designing feedback...
—Robotic surgical assistants are enhancing physician performance, enabling physicians to perform more delicate and precise minimally invasive surgery. However, these devices are ...
Abstract-- In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the en...
Stephen L. Smith, Jana Tumova, Calin Belta, Daniel...
We present a novel method for prioritizing both linear equality and inequality systems and provide one algorithm for its resolution. This algorithm can be summarized as a sequence ...
This work intends to deal with the optimal kinematic synthesis problem of parallel manipulators under a unified framework. Observing that regular (e.g., hyper-rectangular) workspac...