Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rot...

This paper addresses the problem of recovering the generating curve of a surface of revolution from a single uncalibrated perspective view, based solely on the object’s outline and two (partly) visible crosssections. Without calibration of the camera’s internal parameters such recovery is only possible up to a particular transformation of the true shape. This is however sufficient for 3D recons...

An active flutter suppression using linear sub-optimal control scheme is investigated for a 2dof airfoil system with nonlinear torsional stiffness and limited deflection amplitude of its single actuator. The suppression of limit cycle oscillations in the nonlinear closed-loop system is achieved through maximization of the stability region of its linearized system. The critical value of the cont...

A human intervention is essential for human-machine system and human operator’s skill affects deeply achievement of the control purpose. By keeping the human operation easy, an operator can concentrate on more advanced decision so that the operation performance is improved. In this paper, a new concept of human-oriented compensator is proposed for improving the human-machine system, which is na...

This paper presents a planning algorithm for a 2DOF robotic arm to bat flying 2D objects to a targeted location. Impact dynamics are combined with trajectory kinematics and manipulator dynamics to compute the evolving set of states (poses and motions) of the arm able to achieve the task as the object is flying. Planning is conducted under the arm’s dynamic and kinematic constraints. At the time...

In this paper, a novel Two-Degree-Of-Freedom (2DOF) design procedure for Multi-Input Multi-Output Quantitative Feedback Theory (MIMO QFT) problems with Tracking Error Specifications (TESs) is presented. In the proposed procedure, the feedback compensator design is separated from the pre-filter design, using the model matching approach and the unstructured uncertainty modeling concept. This pape...