Homogeneous vector and plane, homogeneous transformation, position and orientation transformations, kinematics and inverse kinematic solutions of robot manipulators and mobile robots, Jacobian and ...

Redundant manipulators, endowed with more degrees of freedom than minimally required, offer enhanced flexibility and adaptability in achieving complex end-effector tasks. The inverse kinematics (IK) ...

Non-Cartesian actuators are improving applications where they weren't even feasible before. Full definition of their dynamics and kinematics helps designers extract maximum performance from these ...

Representations of the configuration and spatial motion of rigid bodies and robots based on modern screw theory. Forward, inverse, and differential kinematics. Robot dynamics, trajectory planning, and ...

One of the perennial challenges of building robots is minimizing the size and weight of drive systems while preserving power. One established way to do this, at least on robots with joints, is to fit ...