Kinematic isotropy and the conditioning index of serial robotic manipulators

TL;DR: The concept of homogeneous space is introduced in order to relieve the designer from the concept of characteristic length, and the application of the concept to the design and kinetostatic performance evaluation of serial robots is illustrated with examples.

TL;DR: A new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented and the concept of the maximum inscribed workspace for the robot is proposed.

TL;DR: This article focuses on nonredundant manipulators with as many actuators as degrees of freedom, and describes the effect of velocities on these capabilities contributed by the Coriolis and centrifugal forces, as well as the reduction of actuator torque capacity due to motor speed.

TL;DR: The type synthesis of US-equivalent PMs is presented in detail to show the application of the proposed approach based on screw theory and using the concept of virtual chains.

TL;DR: In this article, a measure of manipulability of robotic mechanisms in positioning and orienting end-effectors has been proposed and the best postures of various types of manipulators are given, and a four degree-of-freedom finger is considered from the viewpoint of the measure.

TL;DR: Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems.

TL;DR: In this article, a performance index for the kinematic optimization of robotic manipulators is presented based on the condition number of the Jacobian matrix of the manipulator, which is known to be a measure of the amplification of the errors due to the joint and Cartesian spaces.

TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.