Henrique Simas

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Inverse kinematics algorithms based on numerical integration involves drift phenomena of the solution; as a consequence, errors are generated when the end-effector location differs from the desired one. This problem is worse for robots with closed kinematic chains, where minimal errors open the chain or generate excessive torques at the joints. To solve(More)
In hydroelectric power plants, the rotor blades are eroded by the cavitation process. The erosion results in craters that are usually recovered by a manual welding process. The ROBOTURB project developed an automatized system, where a robot is used for recovery the rotor blade surfaces by welding process. The robot workspace is constrained by freeform(More)
This paper presents the design and prototyping of a fully decoupled 3-DOF variable-configuration parallel manipulator with self-aligning called TRIFLEX. This parallel manipulator can change their form to carry out different tasks in different places, this change is managed by additional self-aligning degrees-of freedom. These degrees-of-freedom of(More)
This paper treats the development of a software module for static analysis for any mechanism. The module was developed as an addition to a framework for kinematic analysis created by Raul Guenther Laboratory of Robotics of Federal University of Santa Catarina. The expanded framework can determine the static analysis of a moving mechanism, being possible to(More)
This paper presents a proposal for a new extended Jacobian method based on kinematic constraints, exploring only singularities of the kinematic chain. It is presented the development of the new extended Jacobian as well as their properties. These method can be applied to analyze the behavior of redundant robots on perfoming a task. Redundant robots are used(More)
This paper presents the kinematics programming for Cooperative Robotic Systems (CRS), based on screw theory approach. It includes a systematic for modeling and programming robotic systems composed by any number of robots (not necessarily identical), working cooperatively to perform different tasks. In order to illustrate the application of the systematic,(More)
This paper presents a new approach for collision avoidance of manipulators. When the workspace is completely mapped and the obstacles are known, it is possible to define the task considering the presence of obstacles or their proximity can be monitored simply by the inverse kinematics resolution of the complete system. However, when the workspace is poorly(More)
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