When a human is interacting physically with robot to accomplish task, his/her posture inevitably influenced by the movement. Since not controllable, an active imposing collaborative trajectory should predict most likely posture. This prediction consider individual differences and preferences of movement execution, it necessary evaluate impact robot's action from ergonomics standpoint. Here, we ...

The instantaneous kinematic analysis of a manipulator defines the direction and magnitude (translational and rotational) of impending motion at a specific point in time. This analysis is position dependent, and assumes apriori knowledge of the position information. From the position kinematic analysis, a kinematic transformation between joint space and tool space can be represented as: ( ) x = ...

This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...