This paper proposes an efficient base position (BP) optimization method for mobile painting
robot manipulators (MPRMs). An approximate decoupled model is first established to …

This paper presents an algorithm to optimize the base position of a mobile manipulator to
meet the requirements of local painting tasks. Considering the physical limits and singularity …

In this paper, a task-dependent energetic analysis of robotic manipulators is presented. The
proposed approach includes a novel performance index, which relates the energy …

We present a semiautonomous robotic pen-drawing system, called SSK, that is capable of
creating pen art on a large nonplanar surface. Our robotic system relies on a seven-degree …

Although cable driven robots are a type of parallel manipulators, the evaluation of their
performances cannot be carried out using the performance indices already developed for …

In this paper, we present a novel nonlinear analytical coupled trajectory optimization of a 7-
DOF Baxter manipulator validated through experimental work utilizing global optimization …

The present work is inspired by an industrial task, ie spray painting a large area by means of
a robotic system consisting in a Cable-Driven Parallel Robot (CDPR). In many cases, the …

In this paper, we present a novel nonlinear analytical coupled trajectory optimization of a 7-
DOF Baxter manipulator validated through experimental work utilizing global optimization …

Purpose–The purpose of this paper is to determine the base position and the largest
working area for mobile manipulators. The base position determines the workspace of the …

Purpose To paint large workpieces automatically, painting manipulators with hollow wrists
must be transported by mobile platforms to different positions because of their limited …