6 accepted papers
The inverse kinematics (IK) of serial robots admits multiple solutions, making the selection of the desired one potentially challenging depending on the application at hand. For robots with a non-cuspidal architecture, a suitable strategy is to partition the joint space into independent regions, kno
The inverse kinematics (IK) of serial manipulators admits multiple solutions, making the selection of the desired one potentially challenging depending on the application at hand. For robots with a non-cuspidal architecture, a suitable strategy is to partition the joint space into independent region…
This paper develops algorithms for planning time-optimal pick-and-place trajectories for multiple cylindrical containers filled with liquid and simultaneously transported by a robot. The considered trajectories comprise 3D translations combined with a 1D rotation about the vertical direction, i.e. S
This paper develops algorithms for planning time-optimal pick-and-place trajectories for multiple cylindrical containers filled with liquid and simultaneously transported by a robot. The considered trajectories comprise 3D translations combined with a 1D rotation about the vertical direction, i.e. S…
Continuum parallel robots ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">CPRs</i> ) comprise several flexible beams connected in parallel to an end-effector. They combine the inherent compliance of continuum robots with the high payload capacity o
This letter presents a novel Cable-Driven Parallel Robot dedicated to laser-scanning operations. The proposed device can inspect low-accessibility environments, thanks to a self-deployable end-effector, which can be inserted in a closed container through very small access areas, such as hatches, pip