Robotics

Robotics

Trajectory Optimization of a Spot-Welding Robot in the Joint and Cartesian Spaces

This paper targets the trajectory planning of a serial robot which is used in the spot-welding process of an automobile industry. The problem is first defined based on a …

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Ehsan Sharafian
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Robotics

Revisiting Screw Theory-Based Approaches in the Constraint Wrench Analysis of Robotic Systems

This paper aims at shedding lights on two approaches that were recently proposed for the constraint wrench analysis of robotic manipulators. Both approaches benefit from the …

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Ehsan Sharafian
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