Jorge Angeles

Learn More
The dynamics equations governing the motion of mechanical systems composed of rigid bodies coupled by holonomic and nonholonomic constraints are derived. The underlying method is based on a natural orthogonal complement of the matrix associated with the velocity constraint equations written in linear homogeneous form. The method is applied to the classical(More)
The kinetostatic accuracy of a manipulator depends not only on its configuration but also on its architecture. The focus of this paper is on the study of the relation between the aforementioned accuracy and the architecture of platform manipulators. It has been shown that some architectures can cause the associated Jacobian matrix to be either singular or(More)
The real-time control of cooperating manipulators, mechanical hands, and walking machines involves the optimization of an underdetermined force system subject to both equality and inequality constraints. The inequality constraints arise as a result of passive frictional contacts in systems that depend on these for force transmission or when taking into(More)
In this paper, we study, for each of the possible jointsensor layouts, the subspaces into which the motion of the hip-attachment points of parallel manipulators are completely measured. The projection of the motion of these points onto their subspaces allows us to write the underlying direct kinematics as a linear algebraic system constrained by the proper(More)