A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of
the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of …

Although robots tend to be as competitive as CNC machines for some operations, they are
not yet widely used for machining operations. This may be due to the lack of certain …

Robots are machines that have interested the general population throughout history. In
general, they are machines or devices that operate automatically or by remote control …

In this paper, we present an algorithm and implementation for efficient inverse kinematics for
a general six-revolute (6R) manipulator. When stated mathematically, the problem reduces …

We present a method for kinematic calibration of open chain mechanisms based on the
product of exponentials (POE) formula. The POE formula represents the forward kinematics …

In this article we investigate the modeling and computational aspects of the product-of-
exponentials (POE) formula for robot kinematics. While its connections with Lie groups and …

The authors investigate dexterity measures of a manipulator based on its Jacobian matrix.
The goal is to derive dexterity measures which can be used for both design and control of a …

In this article we develop a mathematical theory for optimizing the kinematic dexterity of
robotic mechanisms and obtain a collection of analytical tools for robot design. The …

The Reconfigurable Modular Manipulator System (RMMS) consists of modular links and
joints that can be assembled into many manipulator configurations. This capability allows …

This paper presents a new methodology for the joint stiffness identification of industrial serial
robots and as consequence for the evaluation of both translational and rotational …