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A Comparative Study on 2-DOF Variable Stiffness Mechanisms
Christoph Stoeffler, Shivesh Kumar, Andreas Müller
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actu…
Mechanism Singularities Revisited from an Algebraic Viewpoint
Zijia Li, Andreas Müller
It has become obvious that certain singular phenomena cannot be explained by a mere investigation of the configuration space, defined as the solution set of the loop closure equati…
Inducing Multi-Convexity in Path Constrained Trajectory Optimization for Mobile Manipulators
Arun Kumar Singh, Andrei Ahonen, Reza Ghabcheloo +1
In this paper, we propose a novel trajectory optimization algorithm for mobile manipulators under end-effector path, collision avoidance and various kinematic constraints. Our key…
Combining Method of Alternating Projections and Augmented Lagrangian for Task Constrained Trajectory Optimization
Arun Kumar Singh, Reza Ghabcheloo, Andreas Muller +1
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible…