..., and it can also be useful for other kinds of redundantly actuated PKMs. machine tools numerical control redundant manipulators servomechanisms homing redundantly actuated parallel kinematic machine assistant homing strategy Homing is one of the most important operations for numerical...

... not demand such workspaces but accuracy and light weight, respectively. Part of this technical brief was published in the Proceedings of the 28th Conference on Robotics and Mechanisms. redundant manipulators industrial manipulators position control 2007 American Society of Mechanical...

... general and specialized form, with others from the literature is provided. 21 07 2004 05 04 2005 end effectors chains position measurement servomotors redundant manipulators measurement errors One of the main concerns which may restrain the application of robots consists...

... of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case. redundant manipulators calibration optimisation torsion Parallel mechanisms consist of several serial chains that connect a base...

.... This is analogous to the revolution of the digital computer replacing the analog computer. However, this leads to mechanisms with complex system kinematics. Studies of the kinematics and control of such “hyper-redundant” manipulators, both with and without binary actuation have been performed 1 8 9 10 11 12...

... of the nonredundant and redundant manipulators are compared. It is shown here that the conditions for the singularity of the redundant manipulators are reduced drastically relative to the nonredundant ones. As a result, the proposed kinematically redundant parallel manipulators may be of great interest in several...

... to be uniformly distributed between the limbs and mounted near the base. Such mechanisms show desirable characteristics like low inertia, large payload to robot weight ratio, considerable stiffness and high dynamic performances. redundant manipulators manipulator kinematics motion control 01...