The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensu...

In this paper, the kinematic workspace characteristics of a crab-like legged vehicle are investigated using a 2-D model. The alternative kinematic configurations and their corresponding workspace constraints are discussed, and the vehicle configuration of most interest identified. It is shown that, for constant vehicle body attitude, only two parameters affect the kinematic workspace, foot over...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driv...

One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces the geometric approach for the unreachable workspace area for the...

This paper presents a comparative study of indirect and direct workspace representation in human-robot interaction. Most of previous researches were using indirect workspace representation or were restricted to mobile robot applications. We extended human-robot interface with direct workspace representation for control of manipulator. Touch screen with representation of manipulators’ task space...

An intention of MapReduce Sets for Cartesian product expressions analysis has to suggest criteria how Cartesian product expressions in Cartesian product data can be defined in a meaningful way and how they should be compared. Similitude based MapReduce Sets for Cartesian product Expression Analysis and MapReduce Sets for Assignment is expected to adhere to fundamental principles of the scientif...

The ongoing trend from mass-produced to mass-customized products with batch sizes as small a single unit has highlighted the need for highly adaptable robotic systems lower downtime maintenance. To address these demands, this article proposes development of novel reconfigurable collaborative robot (cobot), which potential open up many new scenarios within rapidly emerging flexible manufacturing...

This paper proposes an optimum design method that satisfies the desired orientation workspace at the boundary of the translation workspace while maximizing the mechanism isotropy for parallel manipulators. A simple genetic algorithm is used to obtain the optimal linkage parameters of a six-degree-of-freedom parallel manipulator that can be used as a haptic device. The objective function is comp...