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Automation of polishing process requires control of tool pressure and tool speed. Due to friction between the tool and the part, the tool speed is affected when the tool pressure is changed, and this coupling relationship is nonlinear. In this paper, a linearized model is presented for control of automated polishing process. To do so, first, the contact(More)
Robotica / Volume 19 / Issue 03 / May 2001, pp 285 294 DOI: 10.1017/S0263574700002964, Published online: 25 April 2001 Link to this article: http://journals.cambridge.org/abstract_S0263574700002964 How to cite this article: Fengfeng Xi, Wanzhi Han, Marcel Verner and Andrew Ross (2001). Development of a sliding-leg tripod as an add-on device for(More)
This paper addresses the problem of path tracking of industrial robots. The main idea is to correct a preplanned path through an iterative learning control (ILC) method. Instead of seeking the conventional ILC strategy, an iterative learning identification method, which is called calibration-based ILC, is developed to identify the robot kinematic parameters(More)
Presented in this paper is a method for design and analysis of reconfigurable parallel robots. Inherent modularity in the parallel robot lends itself a natural candidate for reconfiguration. By taking the branches as building blocks, a number of modular parallel robots can be constructed, from which a reconfigurable parallel robot can be realized. Among(More)
A spacecraft-manipulator system is considered in this paper. Dynamic singularities are the singularities occurring when inverting the system generalized Jacobian required by the conventional method for solving the inverse kinematics of space manipulators. To avoid dynamic singularities, three methods are developed here based on the manipulator Jacobian,(More)
Dan Zhang, Zhengyi Xu, Chris M Mechefske and Fengfeng Xi Robotica / Volume 22 / Issue 01 / January 2004, pp 77 ­ 84 DOI: 10.1017/S0263574703005228, Published online: 05 January 2004 Link to this article: http://journals.cambridge.org/abstract_S0263574703005228 How to cite this article: Dan Zhang, Zhengyi Xu, Chris M Mechefske and Fengfeng Xi (2004). Optimum(More)
The problem of path planning for 3-D line laser scanning is addressed in this article. The path under study is for a line, as opposed to a point in conventional CNC and CMM toolpath planning. While the objective of the latter case is to drive a point along a curve, that of the former case is to drive a line across a surface. To solve this problem, a path(More)
Presented in this paper is a method for tool path planning for automated polishing. This work is an integral part of the research program on automated polishing and deburring being carried out at Ryerson University. Whereas tool path planning for machining is treated as a geometry problem, it is shown here that tool path planning for polishing should be(More)
Compared with the serial mechanism, the parallel mechanism has many advantages. Using the parallel mechanism as the basic leg mechanism of a walking robot, not only the payload-weight ratio can be improved, but also the robot walking stability and security performance can be enhanced. By combining the kinematics features of 3-UPU parallel mechanism with the(More)