Abstract: This paper presents the design and kinematic analysis of a 6-DOF foldable/deployable Delta-like parallel manipulator, with a spherical wrist, for a lightweight Intervention Autonomous ...

Closed-form inverse kinematics (IK) solution for 6-DoF collaborative robot (cobot) and 3-DoF spherical parallel manipulator (SPM) based on conformal geometric algebra (CGA). Implemented in ROS 2 C++.

This project implements the design, coding, and construction of a 3-RRS (Revolute–Revolute–Spherical) parallel manipulator capable of balancing a ball on a moving platform using PID control. The ...

Parallel manipulators and robots constitute an advanced class of robotic systems where the end-effector is supported by several simultaneous kinematic chains. This architecture affords notable ...

Parallel-serial (hybrid) manipulators represent robotic systems composed of kinematic chains with parallel and serial structures. These manipulators combine the benefits of both parallel and serial ...