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Journal Articles

Dynamic Performance and Modular Design of Redundant Macro-/Minimanipulators

Alan P. Bowling, Oussama Khatib
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2008, 130(9): 092301.
https://doi.org/10.1115/1.2936892
Published Online: August 8, 2008
View Article titled, Dynamic Performance and Modular Design of Redundant Macro-/Minimanipulators
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Topics: Actuators, Design, End effectors, Redundant manipulators, Torque, Manipulators
Journal Articles

Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms

Jing Wang, Cle´ment M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. January 2004, 126(1): 109–118.
https://doi.org/10.1115/1.1641189
Published Online: March 11, 2004
View Article titled, Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms
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Topics: Jacobian matrices, Manipulators, Parallel mechanisms, Redundant manipulators, Design
Journal Articles

On the Design of Zero Reaction Manipulators

E. Papadopoulos, A. Abu-Abed
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1996, 118(3): 372–376.
https://doi.org/10.1115/1.2826895
Published Online: September 1, 1996
View Article titled, On the Design of Zero Reaction Manipulators
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Topics: Design, Manipulators, Dynamics (Mechanics), End effectors, Redundant manipulators, Rendering, Robotics, Torque
Journal Articles

General Algorithm for Automatic Generation of the Workspace for n -link Planar Redundant Manipulators

Sang-Joo Kwon, Youngil Youm, Wan Kyun Chung
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. September 1994, 116(3): 967–969.
https://doi.org/10.1115/1.2919478
Published Online: September 1, 1994
View Article titled, General Algorithm for Automatic Generation of the Workspace for n -link Planar Redundant Manipulators
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Topics: Algorithms, Redundant manipulators, Manipulators
Journal Articles

Repeatable Joint Displacement Generation for Redundant Robotic Systems

Y. S. Chung, M. Griffis, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1994, 116(1): 11–16.
https://doi.org/10.1115/1.2919335
Published Online: March 1, 1994
View Article titled, Repeatable Joint Displacement Generation for Redundant Robotic Systems
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Topics: Displacement, End effectors, Kinematics, Manipulators, Redundant manipulators, Robotics, Springs, Stiffness
Journal Articles

Motions With Minimal Joint Torques for Redundant Manipulators

Lee Heow Pueh
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1993, 115(3): 599–603.
https://doi.org/10.1115/1.2919232
Published Online: September 1, 1993
View Article titled, Motions With Minimal Joint Torques for Redundant Manipulators
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Topics: Manipulators, Optimization, Redundancy (Engineering), Redundant manipulators, Resolution (Optics)
Journal Articles

A Null-Space Solution of the Inverse Kinematics of Redundant Manipulators Based on a Decomposition of Screws

R. P. Podhorodeski, A. A. Goldenberg, R. G. Fenton
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1993, 115(3): 530–539.
https://doi.org/10.1115/1.2919222
Published Online: September 1, 1993
View Article titled, A Null-Space Solution of the Inverse Kinematics of Redundant Manipulators Based on a Decomposition of Screws
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Topics: Kinematics, Redundant manipulators, Screws, Manipulators, Chain
Journal Articles

A Geometric Approach to Hyper-Redundant Manipulator Obstacle Avoidance

G. S. Chirikjian, J. W. Burdick
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1992, 114(4): 580–585.
https://doi.org/10.1115/1.2917047
Published Online: December 1, 1992
View Article titled, A Geometric Approach to Hyper-Redundant Manipulator Obstacle Avoidance
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Topics: Manipulators, Algorithms, Redundant manipulators, Tunnels, Degrees of freedom, Geometry, Robots
Journal Articles

Kinematic Inversion of Parallel Manipulators in the Presence of Incompletely Specified Tasks

C. Gosselin, J. Angeles
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1990, 112(4): 494–500.
https://doi.org/10.1115/1.2912637
Published Online: December 1, 1990
View Article titled, Kinematic Inversion of Parallel Manipulators in the Presence of Incompletely Specified Tasks
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Topics: Kinematics, Manipulators, Trajectories (Physics), Algorithms, Jacobian matrices, Optimization, Redundant manipulators