Adaptive neural network fixed-time control design for bilateral teleoperation with time delay
S Zhang, S Yuan, X Yu, L Kong, Q Li… - IEEE transactions on …, 2021 - ieeexplore.ieee.org
In this article, subject to time-varying delay and uncertainties in dynamics, we propose a
novel adaptive fixed-time control strategy for a class of nonlinear bilateral teleoperation …
novel adaptive fixed-time control strategy for a class of nonlinear bilateral teleoperation …
Forward kinematic model resolution of a special spherical parallel manipulator: comparison and real-time validation
This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs)
designed to be a haptic device for a medical tele-operation system. This architecture is …
designed to be a haptic device for a medical tele-operation system. This architecture is …
Forward kinematics of three classes of 3-RRR spherical parallel mechanisms admitting closed-form solutions
RRR spherical parallel mechanisms (SPMs) have been extensively studied due to their
numerous applications. Substantial effort has been devoted to their forward kinematics (FK) …
numerous applications. Substantial effort has been devoted to their forward kinematics (FK) …
Kinematics analysis of a novel 2R1T 3-PUU parallel mechanism with multiple rotation centers
Z Chen, M Li, X Kong, C Zhao - Mechanism and Machine Theory, 2020 - Elsevier
In this paper, we present a novel three-degree-of-freedom (3-DOF) 3-PUU parallel
mechanism (PM) with multiple rotation centers. Having two rotational DOFs and one …
mechanism (PM) with multiple rotation centers. Having two rotational DOFs and one …
Comparative kinematic analysis and design optimization of redundant and nonredundant planar parallel manipulators intended for haptic use
H Saafi, H Lamine - Robotica, 2020 - cambridge.org
This paper investigates a comparative kinematic analysis between nonredundant and
redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is …
redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is …
A Screw Theory Approach for Instantaneous Kinematic Analysis of Parallel-Serial Manipulators
The article presents an approach to perform an instantaneous kinematic analysis of parallel-
serial (hybrid) manipulators using screw theory. In this study, we focus on non-kinematically …
serial (hybrid) manipulators using screw theory. In this study, we focus on non-kinematically …
Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery
This paper presents a novel kinematics architecture with 4 DoFs (degrees of freedom)
intended to be used as a haptic interface for laparoscopic surgery. The proposed …
intended to be used as a haptic interface for laparoscopic surgery. The proposed …
Design principles and kinematic analysis of a novel spherical 2-degree-of-freedom (DOF) parallel mechanism
X Chen, C Xin, Z Zhang, Y Guo, A Yin… - Mechanical …, 2024 - ms.copernicus.org
The spherical parallel mechanism (SPM) offers several advantages such as high stiffness,
precision, a large workspace, immunity to interference, and simple kinematic calculations …
precision, a large workspace, immunity to interference, and simple kinematic calculations …
Model predictive control for nonlinear bilateral teleoperation systems with time delay
Bilateral teleoperation systems have received extensive attention as a substitute for the
human to perform tasks in remote and hazardous areas. This paper proposes a model …
human to perform tasks in remote and hazardous areas. This paper proposes a model …
Serial approach for solving the forward kinematic model of the DELTA robot
This paper deals with a special architecture of DELTA robot designed to be used as a haptic
device. Delta robot, as all parallel manipulators, has complex kinematic models and …
device. Delta robot, as all parallel manipulators, has complex kinematic models and …