Helena Bruyninckx

Learn More
This paper summarizes the description of the statics and velocity kinematics of serial, parallel and mobile robots, based on the fundamental concepts of twists and wrenches, reciprocity, the “selectively non-reciprocal screw,” and “kinematic dualities.” This approach leads to a simplified since unified treatment of serial, parallel and mobile robot(More)
This paper discusses the \Task Frame" (TF) as a central concept in (hybrid) robot force control and task speciication. The title serves a double purpose: it refers to the desirable ability of a force controller to adapt on-line the motion constraint model on which the control is based, but also to the scientiic evolution of the TF concept during the last(More)
For pt.a see ibid., p.976-81 (1991). The authors present the fundamentals of a framework for model-based online identification of 'complex' motion constraints during force controlled 'constrained', or 'compliant', motion tasks. The identification approach is a generalization of the 'tracking' in Mason's 'compliance' or 'task' frame. Its range of possible(More)
Model-based constrained motion is presented as an extension to Mason's 'task frame' or 'compliance frame' formalism (1981). The basic model building blocks are the constraint's 'features'. Their explicit use of symbolical, geometrical and analytical models of the motion constraints increases the flexibility in specification and control. This results in a(More)
This paper presents an open embedded hardware and software architecture for industrial robot control. Open hardware refers to open source IP-core provided by the authors, while open software implies the use of open source software, specifically Linux and OROCOS [1]. Embedded implies integration of various functional blocks on one System-On-Chip board, for(More)