: The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, ...
Anatoly Pashkevich, Damien Chablat, Philippe Wenge...
Abstract. The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influ...
Anatoly Pashkevich, Alexandr Klimchik, Damien Chab...
— In this paper, the concept of the ’robust arm configuration’ (RAC) is expanded using a mode shape compensator. This compensator improves the robustness of the arm configu...
Many tasks are di cult or impossible for onearmed" robots, for example, assembly with long parts. Multi-armed robots can do such tasks well, but only if both robot and contro...
This paper examines the stability of the exible-object impedance controller when coupled to an arbitrary passive environment. A simple representative system is developed to study ...