Image-based servozng systems are often used to track moving targets and their underlying control architecture is a regulation of the image. This regulation is a function of rigid ...
We are studying a juggler's skill called the "butterfly." Startingwith a ball resting on the palm of his/her open hand, a skilled juggler can accelerate and shape h...
Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazu...
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane witha passive revolute third joint. Such a robot is small-...
Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazu...
An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to mi...
Abstract--Manufacturing scheduling is an important but difficult task. In order to effectively solve such combinatorial optimization problems, this paper presents a novel Lagrangia...
A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator's workspace W into a desingularized ...
This paper gives a brief description of feedback control systems engaged in DLR's recently developed multisensory 4finger robot hand. The work is concentrated on constructing...