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Chapter
How to Manipulate? Kinematics, Dynamics and Architecture of Robot Arms
objective at the end of this chapter is to be able to:
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Chapter
Safety First: On the Safe Deployment of Robotic Systems
deployment of robotic systems always brings several challenges. Among them, safety is of uttermost importance, as these robots share their environment with humans at a certain degree. In this chapter, you w...
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Chapter
Deployment of Advanced Robotic Solutions: The ROS Mobile Manipulator Laboratories
This chapter brings a set of assessments to cover several topics relevant to both mobile robots and manipulator robots with a single integrated robotic platform. Several engineering courses are available with ...
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Chapter
Mathematical Building Blocks: From Geometry to Quaternions to Bayesian
objective at the end of this chapter is to be able to:
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Chapter and Conference Paper
Workspace Analysis and Torque Optimization on a Schönflies-Motion Generator
Pick-and-place robots are used to complete many tasks in industry, from packaging operations to manufacturing. Schönflies-motion generators (SMG), capable of three translations and one rotation about an axis o...
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Chapter and Conference Paper
Dual Least Squares and the Characteristic Length: Applications to Kinematic Synthesis
Least-square problems arise in cases involving arrays with entries bearing different units, rather common in the analysis and synthesis of mechanical systems. Indeed, this is the case with rigid bodies whereby...
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Chapter and Conference Paper
On the Modeling of Redundantly-Actuated Mechanical Systems
Dynamics modeling is essential in the design and control of mechani...
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Chapter and Conference Paper
Heuristic Algorithm for Velocity Scheduling with a Schönflies-Motion Generator
The authors propose a trajectory-planning algorithm to minimize the maximum torque required to produce a prescribed trajectory with a pick-and place robot. This is done with a scheduling of the velocity of the...
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Article
A compliant self-adaptive gripper with proprioceptive haptic feedback
Grippers and robotic hands are an important field in robotics. Recently, the combination of gras** devices and haptic feedback has been a promising avenue for many applications such as laparoscopic surgery a...
