B. Benhabib

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This paper addresses a multi-robot optimal assembly planning problem which in essence is an augmented Travelling Salesperson Problem (TSP+). In our TSP+, both the " salesperson " (a robot with a tool) as well as the " cities " (another robot with a workpiece) move. Namely, in addition to the sequencing of tasks, further planning is required to choose where(More)
In this paper, a detailed dynamic model for a general parallel kinematic mechanism (PKM) used in a reconfigurable meso-milling machine tool (RmMT) is developed in terms of active joint coordinates via the Lagrange formulation and appropriate coordinate transformations. The proposed dynamic model is, then, implemented numerically on a 3-PPRS parallel(More)
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