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In this paper, a new singularity control method for a fully parallel robot manipulator is proposed. The damped least-square method has frequently been used to solve the singularity problem of resolved-acceleration control schemes. It works by damping accelerations of the end-effector, so that accelerations in the degenerated directions are zero at a(More)
This paper is on the study of a single wheel device which can be driven by both human and electric power. The conventional unicycle via human power only is usually for sports or performs, seldom used for transportation. The riders need training/practice and good balancing for successful manipulation. The difficulty is on the longitudinal balancing during(More)
This paper points out that the stability analysis of the hybrid-damped resolved-acceleration control in our earlier work is incomplete, since the stability was concluded directly from the fact that the joint velocities come to rest as time approaches infinity. A similar incomplete technique was also used in the work of Wampler and Leifer to prove the(More)
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