Kinematically redundant manipulator arms and other robotic mechanisms provide a means
for solving sophisticated motion tasks but require complex research on both mechanical and …

Coordinating the tool (robot) and workpiece (positioning table) motion in continuous
manufacturing processes such as sealing, welding, and laser cutting offers several …

An eye-in-hand system visually tracking objects can fail when the manipulator encounters a
kinematic singularity or a joint limit. A solution to this problem is presented in which objects …

The problem of path placement for redundant manipulators is discussed. This includes the
problem of where to place the art and other components (such as other robots, tables, or …

Off‐line programming of robotic workcells has become an invaluable tool for the workcell
designer, however, current robot programming systems lack the capability to automatically …

This thesis investigates a class of robots known as" redundant" manipulators. Roughly
speaking, a redundant manipulator is one that has more degrees of freedom than is …

With a new type of multifingered hands that raise a new philosophy in the construction and
study of a multifingered hand, this paper is a follow-on study of the kinematics of the …

The topology of self-motion manifolds for serial redundant manipulators in the presence of
joint limits is investigated. It is known that the pre-images of singular taskpoints divide the …

A method for searching the best location of a path in the robot workspace considering the
velocity performance of the robot is presented. After a thorough investigation of the robot …

A system which automatically locates a part assembly task in a robot's workspace is
described in this paper. The system determines the manipulability of a robot at points during …