The closed-loop nature of the Gough-Stewart platform generates complex singular configurations inside the workspace and makes its workspace smaller compared to the serial mechanism. It is desirable to obtain a non-singular workspace based on describing the constraint workspace and representing the singularities inside the constraint workspace. Some algorithms have been proposed by researchers t...

The problem of computing the 3-D workspace for redundant articulated chains has applications in a variety of fields such as robotics, computer aided design, and computer graphics. The computational complexity of the workspace problem is at least NP-hard. The recent advent of parallel computers has made practical solutions for the workspace problem possible. Parallel algorithms for computing the...

Puck Clustering, a particularly widely studied problem domain for self-organized multi-robot systems, involves gathering spatially distributed objects, called pucks, into piles within a planar workspace. Structures in the environment (partially formed clusters) encode information about where clusters should be formed, and their positions are involved in the mechanics of subsequent cluster forma...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses for which any wrench can be produced at the end-effector by a set of a non-negative cable tensions. It is already known that the boundary of the constant-orientation wrench-closure workspace of a planar parallel cable-driven mechanism is composed of segments of conic sections. Howevel; the relationship between ...

This paper seeks to generate a continuous pseudoinverse of a function that maps a higher dimensional compact set to a lower dimensional one. Continuity and smoothness should be attained if possible, but otherwise the volume of the discontinuity boundary should be minimized. A sampling-based approximation technique is presented that uses discretized roadmaps of both the domain and image, and min...

The workspace of a Robot is determined by an analytical method. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation for serial kinematic chains. This method is based upon analytical criteria for determining singular behavior of the mechanism. By manipulating the Jacobian of the robot by the row rank deficiency condition, the singularities...

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of R with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using only local information based on a limited sensing radius. The proposed scheme guarantees ...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

Intelligent Transportation Systems (ITS) are the future of transportation. As a result of emerging standards, vehicles will soon be able to talk to one another as well as their environment. A number of applications will be made available for vehicular networks that improve the overall safety of the transportation infrastructure. This chapter develops a method to impart chaotic motions to an Aut...