Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic
solutions for highly dynamic handling and machining applications. The safe and accurate …

Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to
the parallel arrangement of limbs but also due to the existence of kinematic loops within the …

This work proposes the simultaneous solution of inverse kinematics and inverse dynamics of
redundant manipulators for (nearly) real-time joint trajectory design and feedforward control …

This paper presents a unified inverse kinematics and dynamics model of a metamorphic
parallel mechanism with pure rotation and pure translation phases. By altering one rotation …

In this paper, a new way of computing the constraint transfer matrix for the inverse dynamic
and joint force analysis of multibody systems is developed. The method is based on the …

This research offers an adaptive model-based methodology for autonomous control of 3-
RRR spherical parallel manipulator (RSPM) based on a novel modeling framework. RSPM …

This paper aims at shedding lights on two approaches that were recently proposed for the
constraint wrench analysis of robotic manipulators. Both approaches benefit from the …

This paper examines a parallel robot with 5 degrees of freedom with a linear platform.
Parallel robots have a restricted workspace, and singularities make the workspace even …