In recent years, a large number of manipulator robots have been deployed to replace or
assist humans in many repetitive and dangerous tasks. Yet, these robots have complex …

This paper presents trajectory planning optimization and real-time control of a special five-
bar parallel robot. Planning is based on a cubic spline stochastic approach that minimizes …

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 …

A novel redundantly actuated parallel manipulator with multiple potential actuation modes is
proposed in this paper to conquer the drawbacks of the traditional planar 5R parallel …

In this letter, we present an intraoperative magnetic resonance imaging (MRI)-guided robot
for bilateral stereotactic procedures. Its compact design enables robot's operation within the …

We present a simple low-cost calibration procedure that improves the planar positioning
accuracy of a double-arm SCARA robot to levels difficult or impossible to achieve using an …

The purpose of this work is to evaluate the efficiency of five observability indices commonly
used in robot calibration. For illustrative purposes, the study is performed in the case of an …

This paper shows the kinematic analysis and the synthesis of the five-bar linkage with
symmetrical structure and singularity-free dexterous workspace. The type synthesis of the …

In this paper, a structural design and controller optimization process for a five-bar planar
manipulator are studied using three different population-based optimization techniques …

As demonstrated by the exceptionally successful Delta robot, parallel kinematics Schönflies
motion generators (PKSMG) exhibit several advantages over their serial counterparts …