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Journal Articles

Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061017.
Paper No: JMR-23-1773
https://doi.org/10.1115/1.4065234
Published Online: April 24, 2024
View Article titled, Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics
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Topics: Kinematics, Manifolds, Manipulators, Manufacturing, Redundant manipulators, Redundancy (Engineering), Dynamics (Mechanics), Manipulator dynamics, Resolution (Optics)
Journal Articles

Redundant Serial Manipulator Inverse Position Kinematics and Dynamics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081008.
Paper No: JMR-23-1364
https://doi.org/10.1115/1.4064047
Published Online: December 11, 2023
View Article titled, Redundant Serial Manipulator Inverse Position Kinematics and Dynamics
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Topics: Dynamics (Mechanics), Kinematics, Manifolds, Manipulators
Journal Articles

A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061005.
Paper No: JMR-23-1245
https://doi.org/10.1115/1.4063038
Published Online: August 16, 2023
View Article titled, A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics
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Topics: Kinematics, Manifolds, Manipulators, Redundant manipulators
Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
View Article titled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064501.
Paper No: JMR-22-1280
https://doi.org/10.1115/1.4056378
Published Online: January 18, 2023
View Article titled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance

Junchen Wang, Chunheng Lu, Yinghao Zhang, Zhen Sun, Yu Shen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051005.
Paper No: JMR-21-1252
https://doi.org/10.1115/1.4053375
Published Online: February 18, 2022
View Article titled, A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance
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Topics: Kinematics, Manipulators, Algorithms, Manifolds
Journal Articles

Application of Floquet Theory to Human Gait Kinematics and Dynamics

Sandesh G. Bhat, Susheelkumar C. Subramanian, Thomas S. Sugar, Sangram Redkar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061003.
Paper No: JMR-20-1471
https://doi.org/10.1115/1.4050199
Published Online: May 31, 2021
View Article titled, Application of Floquet Theory to Human Gait Kinematics and Dynamics
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Topics: Dynamic systems, Dynamics (Mechanics), Kinematics, Time series, Manifolds, Knee, Stability
Journal Articles

On the Optimal Resolution of Inverse Kinematics for Redundant Manipulators Using a Topological Analysis

Enrico Ferrentino, Pasquale Chiacchio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031002.
Paper No: JMR-19-1152
https://doi.org/10.1115/1.4045178
Published Online: January 10, 2020
View Article titled, On the Optimal Resolution of Inverse Kinematics for Redundant Manipulators Using a Topological Analysis
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Topics: Algorithms, Kinematics, Manipulators, Redundancy (Engineering), Variational techniques, Resolution (Optics), Manifolds, Dynamic programming
Journal Articles

Compositional Submanifolds of Prismatic–Universal–Prismatic and Skewed Prismatic–Revolute– Prismatic Kinematic Chains and Their Derived Parallel Mechanisms

Xinsheng Zhang, Pablo López-Custodio, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031001.
Paper No: JMR-16-1303
https://doi.org/10.1115/1.4038218
Published Online: March 1, 2018
View Article titled, Compositional Submanifolds of Prismatic–Universal–Prismatic and Skewed Prismatic–Revolute– Prismatic Kinematic Chains and Their Derived Parallel Mechanisms
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Topics: Chain, Displacement, Kinematic chains, Parallel mechanisms, Rotation, Kinematics, Manifolds, Screws
Journal Articles

Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011008.
Paper No: JMR-16-1390
https://doi.org/10.1115/1.4038528
Published Online: December 22, 2017
View Article titled, Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators
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Topics: Kinematics, Linkages, Manifolds, Manipulators, Screws
Journal Articles

A Unified Approach to Exact and Approximate Motion Synthesis of Spherical Four-Bar Linkages Via Kinematic Mapping

Xiangyun Li, Ping Zhao, Anurag Purwar, Q. J. Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011003.
Paper No: JMR-17-1127
https://doi.org/10.1115/1.4038305
Published Online: December 20, 2017
View Article titled, A Unified Approach to Exact and Approximate Motion Synthesis of Spherical Four-Bar Linkages Via Kinematic Mapping
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Topics: Design, Fittings, Kinematics, Linkages, Manifolds, Errors
Journal Articles

A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem

Shrinath Deshpande, Anurag Purwar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061005.
Paper No: JMR-17-1048
https://doi.org/10.1115/1.4037801
Published Online: September 18, 2017
View Article titled, A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem
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Topics: Algebra, Errors, Fittings, Linkages, Kinematics, Error functions, Algorithms, Manifolds, Design, Dimensions
Journal Articles

Kinematics for an Actuated Flexible n -Manifold

Oded Medina, Amir Shapiro, Nir Shvalb
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021009.
Paper No: JMR-15-1028
https://doi.org/10.1115/1.4031301
Published Online: November 24, 2015
View Article titled, Kinematics for an Actuated Flexible n -Manifold
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Topics: Atomic force microscopy, Kinematics, Manifolds, Robots
Journal Articles

A Unified Algorithm for Analysis and Simulation of Planar Four-Bar Motions Defined With R- and P-Joints

Xiangyun Li, Xin Ge, Anurag Purwar, Q. J. Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011014.
Paper No: JMR-14-1271
https://doi.org/10.1115/1.4029295
Published Online: February 1, 2015
View Article titled, A Unified Algorithm for Analysis and Simulation of Planar Four-Bar Motions Defined With R- and P-Joints
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Topics: Algorithms, Linkages, Manifolds
Journal Articles

A New Class of Adaptive Parallel Robots

Gianmarc Coppola, Dan Zhang, Kefu Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2014, 6(4): 041013.
Paper No: JMR-13-1134
https://doi.org/10.1115/1.4027875
Published Online: July 2, 2014
View Article titled, A New Class of Adaptive Parallel Robots
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Topics: Kinematics, Manipulators, Stiffness, Actuators, Screws, Manifolds
Journal Articles

On the Manifold Property of the Set of Singularities of Kinematic Mappings: Genericity Conditions

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2012, 4(1): 011006.
https://doi.org/10.1115/1.4005524
Published Online: February 3, 2012
View Article titled, On the Manifold Property of the Set of Singularities of Kinematic Mappings: Genericity Conditions
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Topics: Kinematics, Manifolds, Theorems (Mathematics), Screws, Kinematic chains
Journal Articles

Quotient Kinematics Machines: Concept, Analysis, and Synthesis

Yuanqing Wu, Hong Wang, Zexiang Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041004.
https://doi.org/10.1115/1.4004891
Published Online: September 26, 2011
View Article titled, Quotient Kinematics Machines: Concept, Analysis, and Synthesis
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Topics: Kinematics, Machinery, Manifolds
Journal Articles

Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand With an Articulated Palm

Lei Cui, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021001.
https://doi.org/10.1115/1.4003414
Published Online: March 2, 2011
View Article titled, Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand With an Articulated Palm
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Topics: Jacobian matrices, Manifolds, Screws, Dimensions, Manipulators
Journal Articles

On the Manifold Property of the Set of Singularities of Kinematic Mappings: Modeling, Classification, and Genericity

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011006.
https://doi.org/10.1115/1.4002695
Published Online: November 30, 2010
View Article titled, On the Manifold Property of the Set of Singularities of Kinematic Mappings: Modeling, Classification, and Genericity
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Topics: Kinematics, Manifolds, Deformation, Geometry, Kinematic chains
Journal Articles

Interactive Dimensional Synthesis and Motion Design of Planar 6 R Single-Loop Closed Chains via Constraint Manifold Modification

Jun Wu, Anurag Purwar, Q. J. Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031012.
https://doi.org/10.1115/1.4001775
Published Online: July 23, 2010
View Article titled, Interactive Dimensional Synthesis and Motion Design of Planar 6 R Single-Loop Closed Chains via Constraint Manifold Modification
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Topics: Chain, Design, Manifolds