Mathematical modelling plays an important role for robotic manipulators in order to design
their particular controllers. Also, it is hard challenge to obtain an accurate mathematical …

Autonomous vehicles (AVs) are the next-generation driver-less vehicular entities with
advanced technologies. Overtaking is an important and challenging maneuver that needs to …

Many small and large industries use robot arms to establish a range of tasks such as picking
and placing, and painting in today's world. However, to complete these tasks, one of the …

This paper presents a general method for the trajectory planning of the redundant planar
manipulator. The mathematical relation between joint space and Cartesian space in a two …

Parallelogram-based remote center-of-motion (RCM) mechanisms are extensively used to
design robots for minimally invasive surgery (MIS). For their kinematic modeling, classically …

Existing deployable mechanisms and metamorphic structures realize the latch ability with
extra design or contact force. However, these designs limit the workspace and loading …

This paper presents the mathematical modeling of ten degree of freedom of manipulator.
Workspace of each leg calculated by applying the method of Denavit_Hatretnberg notation …

Heterogeneous master–slave robots are widely used as both the assistive robot system for
the elder/disabled people and the teleoperation robot system in dangerous environments …

针对传统Paden-Kahan 子问题求解机械臂运动学逆解时需确定关节轴线交点坐标的问题,
对该子问题进行改进. 利用末端执行器位姿信息获取轴线交点坐标, 建立物体坐标与末端执行器 …

The inevitable errors in the manufacturing, assembly, and testing of a remote center-of-
motion (RCM) mechanism lead to the erroneous link parameters which deviate its geometry …