Shilong Jiang

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— We propose in this paper an improved geometric formulation of POE (Product Of Exponential) based kinematic calibration of serial robots, which is based on the work of [1]. We use both joint offset-free formulation and adjoint transformation errors of joint screws, and apply it to the calibration of an elbow manipulator. Our formulation explains why the(More)
In order to improve trajectory tracking accuracy for a redundantly actuated parallel manipulator, a so-called augmented nonlinear PD (ANPD) controller based on the conventional dynamic controller is proposed in this paper. The ANPD controller is designed by replacing the linear PD in the augmented PD controller with a nonlinear PD algorithm. The stability(More)
—This paper investigates the synthesis of a spatial stiffness matrix using simple line springs. A new algorithm is developed , which enables the selection of constituent springs based on their positions and directions. The constraining space of the line springs is then investigated. It is shown that an isotropic stiffness matrix, in general, can be split(More)
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