Jorge Angeles — accepted AI-conference papers

2020

Workspace Determination and Feedback Control of a Pick-and-Place Parallel Robot: Analysis and Experiments

Bruno Belzile, Peyman Karimi Eskandary, Jorge Angeles

RA-L 2020

The authors report on the analysis and experimental evaluation of a parallel Schönflies-motion generator (SMG) intended for fast pick-and-place operations and actuated with cylindrical drives (C-drives). Its CRRHHRRC isostatic architecture offers high rotability of the moving platform and a reduced

Cited by 16 Source ↗Scholar ↗

2017

A method to enforce stiff constraints in the simulation of articulated multibody systems

Joe Hewlett, József Kövecses, Jorge Angeles

IROS 2017poster

We propose a novel integrator for implementing bilateral constraints in multibody simulation using variational integrator methods. We first construct a variational penalty method, which is used to enforce a constraint. The penalty term is simulated using an asynchronous variational integrator, allow…

Cited by 0 Source ↗Scholar ↗