Force capabilities of redundantly-actuated parallel manipulators von Nokleby, S.B., Fisher, R., Podhorodeski, R.P., Firmani, F.

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Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator von Carretero, J. A, Podhorodeski, R. P, Nahon, M. A, Gosselin, C. M

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A chattering-free sliding-mode controller for underwater vehicles with fault-tolerant infinity-norm thrust allocation von Soylu, Serdar, Buckham, Bradley J., Podhorodeski, Ron P.

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Optimization-Based Synthesis of Grashof Geared Five-Bar Mechanisms von Nokleby, Scott B, Podhorodeski, Ron P

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Force-unconstrained poses for a redundantly-actuated planar parallel manipulator von Firmani, Flavio, Podhorodeski, Ron P.

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Dynamics and control of tethered underwater-manipulator systems von Soylu, S, Buckham, B J, Podhorodeski, R P

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An approach for ensuring manipulator tip accuracy near singularities von Podhorodeski, Ron P

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Optimization of manipulator point to point motion considering actuator output capability constraints von Podhorodeski, R.P, Cleghorn, W.L

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Reciprocity-based resolution of velocity degeneracies (singularities) for redundant manipulators von Nokleby, Scott B., Podhorodeski, Ron P.

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Identifying multi-DOF-loss velocity degeneracies in kinematically-redundant manipulators von Nokleby, Scott B., Podhorodeski, Ron P.

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On the forward displacement problem of three-branch parallel manipulators von Notash, Leila, Podhorodeski, Ron P

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Forward displacement analysis and uncertainty configurations of parallel manipulators with a redundant branch von Notash, Leila, Podhorodeski, Ron P.

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Comparison of abdominal-wall stretching between basic and enhanced laparoscopic instruments von Wittchen, Jonathan D., Podhorodeski, Ron P.

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Design of a reconfigurable planar parallel manipulator von Fisher, R., Podhorodeski, R. P., Nokleby, S. B.

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Velocity degeneracy determination for the kinematically redundant CSA/ISE STEAR testbed manipulator von Nokleby, Scott B., Podhorodeski, Ron P.

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Reconfigurable main-arm for assembly of all revolute-only kinematically simple branches von Podhorodeski, Ron P., Nokleby, Scott B.

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A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator von Podhorodeski, R. P., Fenton, R. G., Goldenberg, A. A.

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An approach for ensuring manipulator tip accuracy near singularities von Podhorodeski, R.P.

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Kinematic calibration of parallel manipulators von Notash, L., Podhorodeski, R.P.

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Sensor fault detection for fault tolerant operation of parallel manipulators von Notash, L., Podhorodeski, R.P.

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