Non-Cartesian actuators are improving applications where they weren't even feasible before. Full definition of their dynamics and kinematics helps designers extract maximum performance from these ...
Redundant manipulators, endowed with more degrees of freedom than minimally required, offer enhanced flexibility and adaptability in achieving complex end-effector tasks. The inverse kinematics (IK) ...
Representations of the configuration and spatial motion of rigid bodies and robots based on modern screw theory. Forward, inverse, and differential kinematics. Robot dynamics, trajectory planning, and ...
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