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23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls
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Proceedings Papers

Geometry and Position Analysis of a Novel Class of Hybrid Manipulators

Change-de Zhang, Shin-Min Song
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 1-9, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0300
https://doi.org/10.1115/DETC1994-0300
View Paper titled, Geometry and Position Analysis of a Novel Class of Hybrid Manipulators
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Topics: Geometry, Manipulators, Polynomials, Degrees of freedom, End effectors, Parallel mechanisms, Stiffness, Stress
Proceedings Papers

Identification for Manipulators With Joint Compliances and Link Deflections

Cheng Y. Lin, Meng-Sang Chew, Louis J. Everett, Jer-Nan Juang
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 205-212, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0324
https://doi.org/10.1115/DETC1994-0324
View Paper titled, Identification for Manipulators With Joint Compliances and Link Deflections
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Topics: Deflection, Manipulators, Algorithms, End effectors, Flexible manipulators, Gravity (Force), Kinematics, Robots, Simulation
Proceedings Papers

Theory of Isotropic Transmission for Tendon-Driven Manipulators

Yeong-Jeong Ou, Lung-Wen Tsai
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 53-61, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0306
https://doi.org/10.1115/DETC1994-0306
View Paper titled, Theory of Isotropic Transmission for Tendon-Driven Manipulators
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Topics: Manipulators, Tendons, Actuators, Degrees of freedom, End effectors, Mechanical drives, Pulleys
Proceedings Papers

Emulating Micro-Gravity in Laboratory Studies of Space Robotics

Thomas R. J. Corrigan, Steven Dubowsky
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 109-116, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0312
https://doi.org/10.1115/DETC1994-0312
View Paper titled, Emulating Micro-Gravity in Laboratory Studies of Space Robotics
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Topics: Gravity (Force), Robotics, Algorithms, Manipulators, Space vehicles
Proceedings Papers

A Modular, Long-Reach, Truss-Type Manipulator for Waste Storage Tank Remediation

Robert J. Salerno, Charles F. Reinholtz
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 153-159, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0318
https://doi.org/10.1115/DETC1994-0318
View Paper titled, A Modular, Long-Reach, Truss-Type Manipulator for Waste Storage Tank Remediation
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Topics: Manipulators, Storage tanks, Trusses (Building), Algorithms, Design, Geometry, Kinematic analysis
Proceedings Papers

A Kinematic Analysis of Two 3-R Robots Manipulating a Planar Linkage Payload

Gordon R. Pennock, Keith G. Mattson
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 11-17, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0301
https://doi.org/10.1115/DETC1994-0301
View Paper titled, A Kinematic Analysis of Two 3-R Robots Manipulating a Planar Linkage Payload
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Topics: Kinematic analysis, Linkages, Robots, Manufacturing, Polynomials, Circuits, Degrees of freedom, Kinematics
Proceedings Papers

Development of a Real Time Intelligent Robotic Tracking System

Marc D. Mikesell, Raymond J. Cipra
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 213-222, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0325
https://doi.org/10.1115/DETC1994-0325
View Paper titled, Development of a Real Time Intelligent Robotic Tracking System
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Topics: Robotics, Manipulators, Trajectories (Physics), Computers, Generators, Robots
Proceedings Papers

Globally Optimal Force Allocation in Active Mechanisms With Four Frictional Contacts

S. V. Sreenivasan, K. J. Waldron, S. Mukherjee
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 63-72, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0307
https://doi.org/10.1115/DETC1994-0307
View Paper titled, Globally Optimal Force Allocation in Active Mechanisms With Four Frictional Contacts
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Topics: Algorithms, Control equipment, Degrees of freedom, Grippers, Optimization, Performance characterization, Polynomials, Redundancy (Engineering), Vehicles
Proceedings Papers

Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators

Gregory S. Chirikjian
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 161-167, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0319
https://doi.org/10.1115/DETC1994-0319
View Paper titled, Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators
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Topics: Actuators, Kinematics, Manipulators, Feedback, Robotics, Algorithms, Manipulator design, Pneumatic cylinders, Solenoids
Proceedings Papers

Generation of Exact Joint Locations in Conceptual Designs of Deployable Truss Structures

Dirk B. Warnaar
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 117-125, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0313
https://doi.org/10.1115/DETC1994-0313
View Paper titled, Generation of Exact Joint Locations in Conceptual Designs of Deployable Truss Structures
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Topics: Conceptual design, Trusses (Building), Design
Proceedings Papers

Design and Construction of a Compact, Multiple Degree of Freedom Manipulating Device

David A. Tucker, Raymond J. Cipra
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 19-28, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0302
https://doi.org/10.1115/DETC1994-0302
View Paper titled, Design and Construction of a Compact, Multiple Degree of Freedom Manipulating Device
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Topics: Construction, Degrees of freedom, Design, Manipulators, Actuators, Robots, Brakes, End effectors, Cables, Computers
Proceedings Papers

On Inverse Statics and Dynamics Problems of Flexible Link Manipulators

F. Xi, Robert G. Fenton
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 169-176, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0320
https://doi.org/10.1115/DETC1994-0320
View Paper titled, On Inverse Statics and Dynamics Problems of Flexible Link Manipulators
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Topics: Dynamics (Mechanics), Manipulators, Statics, Numerical analysis
Proceedings Papers

Kinematic/Kinetic Performance Analysis and Design Tools for Robotic Mechanisms

M. Y. Lee, A. G. Erdman, Y. Gutman
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 73-82, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0308
https://doi.org/10.1115/DETC1994-0308
View Paper titled, Kinematic/Kinetic Performance Analysis and Design Tools for Robotic Mechanisms
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Topics: Design, Kinematics, Robotics, Performance characterization, Mechanical admittance
Proceedings Papers

Design of Quadri-Directional Air Thrusters for Free-Floating Robot Applications

Sunil Kumar Agrawal, A. Krajnak, N. Batsios, M. Annapragada
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 127-131, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0314
https://doi.org/10.1115/DETC1994-0314
View Paper titled, Design of Quadri-Directional Air Thrusters for Free-Floating Robot Applications
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Topics: Design, Robots, Pressure, Manifolds, Propulsion, Solenoids, Valves, Computers, Gates (Closures), Nozzles
Proceedings Papers

Trajectory Planning and Open Loop Control for Nonholonomic Control Systems

Z. Retchkiman, F. Khorrami, J. Rastegar
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 223-228, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0326
https://doi.org/10.1115/DETC1994-0326
View Paper titled, Trajectory Planning and Open Loop Control for Nonholonomic Control Systems
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Topics: Control systems, Trajectories (Physics)
Proceedings Papers

Methodology for Comparing Stiffness Mappings Using Geometric Invariants

Chin-Huang Sun, Michael W. Griffis, Joseph Duffy
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 177-183, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0321
https://doi.org/10.1115/DETC1994-0321
View Paper titled, Methodology for Comparing Stiffness Mappings Using Geometric Invariants
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Topics: Stiffness, Eigenvalues, Screws, Manipulators
Proceedings Papers

On the Determination of the Workspace of Complex Planar Robotic Manipulators

Rémi Ricard, Clément M. Gosselin
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 133-140, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0315
https://doi.org/10.1115/DETC1994-0315
View Paper titled, On the Determination of the Workspace of Complex Planar Robotic Manipulators
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Topics: Manipulators
Proceedings Papers

The Use of Positioning Error Functions in Robot Calibration

Jian P. Liu, J. P. Sadler
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 229-236, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0327
https://doi.org/10.1115/DETC1994-0327
View Paper titled, The Use of Positioning Error Functions in Robot Calibration
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Topics: Calibration, Error functions, Robots, Errors, Computer simulation, End effectors, Geometry
Proceedings Papers

Kinestatic Analysis of General Parallel Manipulators

Shou-Hung Ling, Ming Z. Huang
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 29-37, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0303
https://doi.org/10.1115/DETC1994-0303
View Paper titled, Kinestatic Analysis of General Parallel Manipulators
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Topics: Manipulators, Chain, Geometry, Kinematics, Robotics, End effectors, Jacobian matrices, Screws, Statics, Systems theory
Proceedings Papers

Kinematic and Static Analysis of Open-Loop Manipulators Using Linear Algebra

K. Y. Tsai
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 83-89, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0309
https://doi.org/10.1115/DETC1994-0309
View Paper titled, Kinematic and Static Analysis of Open-Loop Manipulators Using Linear Algebra
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Topics: Kinematics, Linear algebra, Manipulators, Actuators, Algorithms, Degrees of freedom, Linear systems, Screws, Statics