Searching for authors named "Jorge Angeles" – sorted by Relevance.
3 documents found, showing 1 through 3.
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A Mechanical Model for Robotic Joints with Harmonic Drives
- …Harmonic drive gears, of extensive use in robotics, exhibit a non-smooth torque transmission characteristic that significantly influences the dynamic behaviour of the driving and driven elements. For the design of robust motion- and force-control schemes, it is therefore necessary to model accuratel…
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Singularity analysis of three-legged parallel robots based on passive-joint velocities
- …ABSTRACT | Focusing on the instantaneous velocities of passive joints, a new formulation approach is proposed for the instantaneous kinematics and singularity analysis of a class of three-legged parallel robots. Since only four 3 3 matrices need to be analyzed, the complexity of singularity analysis…
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Control of a Shaking Belt Conveyor by a Novel Application of Floquet-Lyapunov Theory
- …One method for realizing the self-orientation of workpieces for grasping by a robot is by means of a shaking belt conveyor. Control of small perturbations around the steady state leads to the control of a linear time-periodic system. We propose and successfully implement an approach for control base…
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