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Franka Panda 7-DoF robot for experiments: it includes a grid paper on the w...
Published Online: November 25, 2022
Fig. 1 Franka Panda 7-DoF robot for experiments: it includes a grid paper on the workbench and a laser pointer to trace displacement of the end-effector. The X – Y plane is parallel to the table. More
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A conceptual illustration depicting the initial and final equilibrium confi...
Published Online: November 25, 2022
Fig. 2 A conceptual illustration depicting the initial and final equilibrium configurations after a perturbation is applied More
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Block diagram of the Cartesian-based impedance control. The input to the “C...
Published Online: November 25, 2022
Fig. 3 Block diagram of the Cartesian-based impedance control. The input to the “Cartesian Impedance control law” block is x ( t ), which is the displacement measured from the equilibrium position x eq , with x ˙ ( t ) and x ¨ ( t ) being the velocity and accel... More
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Exp 1: free vibration response of the joints  q  1 ,  q  3 ,  q  5 , and  q...
Published Online: November 25, 2022
Fig. 5 Exp 1: free vibration response of the joints q 1 , q 3 , q 5 , and q 7 of Panda robot after an initial displacement is imposed from the equilibrium position, q 0 . It is noted that in all plots, the displacement from the initial equilibrium position, q 0 , is plotted. Thus, the... More
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Exp 1: free vibration response in the  Y  direction after an initial displa...
Published Online: November 25, 2022
Fig. 6 Exp 1: free vibration response in the Y direction after an initial displacement in the Y direction is imposed on Panda robot. In addition, the Y direction is chosen to be the most compliant among the three Cartesian directions in this experiment. The displacement from the initial equi... More
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Exp 3: free vibration response in the  Y  direction after a series of initi...
Published Online: November 25, 2022
Fig. 7 Exp 3: free vibration response in the Y direction after a series of initial displacements is imposed at configuration 2. The displacement from the initial equilibrium position, y 0 , is plotted. In stage 2, the end position of y 0 of stage 1 becomes the equilibrium position of stage ... More
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Apply null-space joint impedance control law: The responses of joints  q  1...
Published Online: November 25, 2022
Fig. 8 Apply null-space joint impedance control law: The responses of joints q 1 , q 3 , q 5 , and q 7 , after an initial displacement of approximately Y = 40 mm at the initial configuration 2, show that the joints return to their initial configuration with q ZP = 0. In all plots, t... More
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Free vibration response after an initial displacement is imposed at configu...
Published Online: November 25, 2022
Fig. 9 Free vibration response after an initial displacement is imposed at configuration 2 with three damping: (i) no damping ( C C = 0 ), (ii) low damping, C C = diag(10, 13, 20, 1.75, 11, 1), and (iii) high damping, C C = diag(90, 35, 60, 10, 11, 3). In all plots, the displacement... More
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054503.
Paper No: JMR-22-1188
Published Online: November 25, 2022
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Construction of a new overconstrained 6 R  linkage: ( a ) two identical equ...
Published Online: November 25, 2022
Fig. 2 Construction of a new overconstrained 6 R linkage: ( a ) two identical equilateral Bennett linkages, ( b ) combining the two Bennett linkages, and ( c ) common joint is removed More
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Kinematic curves of mode I: ( a )  θ  2  versus  θ  1 / θ  4  for some give...
Published Online: November 25, 2022
Fig. 3 Kinematic curves of mode I: ( a ) θ 2 versus θ 1 / θ 4 for some given α and ( b ) θ 2 versus θ 3 / θ 5 / θ 6 More
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Kinematic curves of mode III: ( a )  θ  2  versus  θ  1  for some given  α ...
Published Online: November 25, 2022
Fig. 5 Kinematic curves of mode III: ( a ) θ 2 versus θ 1 for some given α , ( b ) θ 2 versus θ 4 for some given α , and ( c ) θ 2 versus θ 3 / θ 5 / θ 6 More
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Some special states when some of the kinematic variables are equal to π whi...
Published Online: November 25, 2022
Fig. 6 Some special states when some of the kinematic variables are equal to π while the rest could be variable More
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Another three motion modes: ( a ) mode IV rotating around the axis     z  1...
Published Online: November 25, 2022
Fig. 7 Another three motion modes: ( a ) mode IV rotating around the axis z 1 ( z 4 ) , ( b ) mode V rotating around the axis z 3 ( z 6 ) , and ( c ) mode VI rotating around the axis z 2 ( z 5 ) More
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θ  2  versus  θ  3  curves of mode I–VI and a physical prototype to show th...
Published Online: November 25, 2022
Fig. 8 θ 2 versus θ 3 curves of mode I–VI and a physical prototype to show the motion process, where I a − A −I b − B −I c − C −I d − E correspond to mode I, C ‐II a − F and C ‐II b − D correspond to mode II, B ‐III a − E correspond to mode III, IV b −IV c correspond to mode IV, E−V a ... More
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