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In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is(More)
Multilink cable-driven manipulators offer the compactness of serial mechanisms while benefitting from the advantages of cable-actuated systems. One major challenge in modeling multilink cable-driven manipulators is that the number of combinations in the possible cable-routing increases exponentially with the number of rigid bodies. In this paper, a(More)
A novel approach to perform motion planning on 2 or 3 degrees-of-freedom manipulators util-ising a fluid motion planning model is proposed. It is demonstrated that through the introduction of transformations, the conventional trajectory planning problem in the configuration space (C-space) can be efficiently solved from the closed form solution of the fluid(More)
Joint interaction forces and moments play a significant role within multilink cable-driven manipulators (MCDMs). In this paper, the consideration of joint interaction forces and moments in the objective function and constraints specific to the inverse dynamics of MCDMs are considered for the first time. By formulating the relationship between the joint(More)
The design and analysis of a 4-DOF multi-link cable driven parallel mechanism is presented. In contrast to many existing cable driven parallel mechanism, the proposed manipulator's rigid links are serially articulated. This design preserves the advantages associated with cable-driven parallel mechanisms, and introduces the advantages in having a serial(More)
The motion planning for a bipedal robotic gait is studied in this paper in the light of its underactuated nature. The generation of motion trajectory and the corresponding actuation command for an underactuated mechanism is a challenging problem, especially when it is required to needs to satisfy a set of equalities forming kinematics constraints. Existing(More)
Large and sudden changes in the torques of the motors of a robot are highly undesirable and should be avoided during robot control as they may result in unpredictable behaviours. One cause of large changes in torques is the presence of discontinuities in the constraints that the robot must satisfy, such as the avoidance of an obstacle or the breaking of(More)