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Singularity analysis of closed-loop kinematic chains
The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties…
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte
Stiffness mapping for parallel manipulators
- C. Gosselin
- Mathematics, Computer ScienceIEEE Trans. Robotics Autom.
- 1 June 1990
The approach used by the author is to establish stiffness or conditioning maps of the workspace of the manipulator, which reveal the existence of zones where the stiffness is not acceptable and also help the designer by providing a more accurate representation of the properties of the manipulation.
A Global Performance Index for the Kinematic Optimization of Robotic Manipulators
In this paper, a novel performance index for the kinematic optimization of robotic manipulators is presented. The index is based on the condition number of the Jacobian matrix of the manipulator,…
Underactuated Robotic Hands
- L. Birglen, T. Laliberté, C. Gosselin
- Computer Science, EngineeringSpringer Tracts in Advanced Robotics
- 11 March 2008
The purpose of this book is to present, in an attractive format, the expertise developed by the authors on a new technology for grasping, namely under actuation, which has achieved great success both in theory and in practice.
Determination of the Workspace of 6-DOF Parallel Manipulators
- C. Gosselin
- 1 September 1990
On the development of the Agile Eye
- C. Gosselin, É. St.-Pierre, J. Gagné
- Engineering, Computer ScienceIEEE Robotics Autom. Mag.
- 1 December 1996
The "Agile Eye" is a high-performance mechanism capable of orienting a camera within a workspace larger than that of a human eye and with velocities and accelerations larger than those of the human…
Variable admittance control of a four-degree-of-freedom intelligent assist device
- A. Campeau-Lecours, Boris Mayer St-Onge, C. Gosselin
- Engineering, Computer ScienceIEEE International Conference on Robotics and…
- 14 May 2012
The proposed variable admittance law is based on the inference of human intentions using desired velocity and acceleration and is designed to improve system intuitivity.
Deep Learning for Electromyographic Hand Gesture Signal Classification Using Transfer Learning
- U. Côté-Allard, C. Fall, +5 authors B. Gosselin
- Computer Science, MathematicsIEEE Transactions on Neural Systems and…
- 10 January 2018
The proposed transfer learning scheme is shown to systematically and significantly enhance the performance for all three networks on the two datasets, achieving an offline accuracy of 98.31% and real-time feedback allows users to adapt their muscle activation strategy which reduces the degradation in accuracy normally experienced over time.
Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory
This paper presents the results of a detailed study of the singular configurations of 3-DOF planar parallel mechanisms with three identical legs. Only prismatic and revolute joints are considered.…