Generating a defined motion is one of the fundamental tasks for a machine. By definition, a
robot is a universal machine dedicated to creating motion that can be freely programmed. A …

Cuspidal robots can move from one inverse or direct kinematic solution to another without
ever passing through a singularity. These robots have remained unknown because almost …

This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …

Research on continuum parallel robots has been essentially devoted to the computation of
their geometricostatic models and of their performance in terms of workspace size, accuracy …

The standard forward-kinematics analysis of 3-RPR planar parallel robots boils down to
computation of the roots of a sextic polynomial. There are many different ways to obtain this …

In this paper, the 3-RRR spherical parallel manipulator (SPM) of co-axis input is redesigned
with reconfigurability. By utilizing a simple four-bar linkage, the SPM is able to change …

In this paper, a robust nonlinear proportional–integral–derivative (PID)-like fuzzy control
scheme is presented and applied to complex trajectory tracking control of a 2PRP-PPR (P …

In order to increase the reachable workspace of parallel robots, a promising solution
consists of the definition of optimal trajectories that ensure the non-degeneracy of the …

Most multimode parallel robots can change operation modes by passing through constraint
singularities. This paper deals with a comprehensive kinematic study of a three degrees-of …

Non singular assembly mode change of parallel manipulators has been discussed for a
while within the robotics community. This term means that a parallel robot can pass from one …