Robotics and Mechanisms Laboratory

Submitted or In Preparation

• M. Ruggiu and J. A. Carretero, Kinematic Analysis of the 3-PRPR Redundant Planar Parallel Manipulator, submitted to the 2009 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Quebec, Quebec, Canada, May 28-29 2009
  
  
• A. R. Roy and J. A. Carretero, A Volume-Based Contact Dynamics Model with Asymmetric Damping Independent of the Coefficient of Restitution, submitted to the 2009 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Quebec, Quebec, Canada, May 28-29 2009
  
  
• J. A. Carretero, I. Ebrahimi, and R. Boudreau, Path Planning for Kinematically Redundant Planar Parallel Manipulators
  
  
• G. Pond and J. A. Carretero, Dexterity Analysis and Optimisation of the Tricept Manipulator
  
  
• G. Pond and J. A. Carretero, Generalised Kinematics and Singularity Analysis of the 3-PRS Manipulator
  
  
• A. R. Roy and J. A. Carretero, A Volume-Based Contact Dynamics Model with Asymmetric Damping Independent of the Coefficient of Restitution
  
  
• A. R. Roy and J. A. Carretero, B. J. Buckham and R. S. Nicoll, A Compliant Contact Model for Volumetric Cubic-Spline Cables Based on Interference Geometry
  
  
• J. A. Carretero and M. A. Nahon, Constrained Global Optimization Methods to Solve the Minimum Distance Problem Between Concave Objects
  
  
• J. A. Carretero, R. P. Podhorodeski, M. A. Nahon and G. Pond, Static Force Analysis of the 3-PRS Parallel Mechanism
  
  
• J. A. Carretero and R. Uppuluri, A Novel Optimization-based Pruning Strategy for Solving the Exact Distance for Complex Dynamic Simulations
  
  
• J. A. Carretero, M. A. Nahon, and O. Ma, Using Genetic Algorithms with Niche Formation to Solve the Minimum Distance Problem Amongst Concave Objects
  
  

2009

• V. Garg, J. A. Carretero and S. B. Nokleby, A New Method to Determine the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators, Journal of Mechanisms and Robotics, 2009 (in press)
  
  
• A. R. Roy, J. A. Carretero, B. J. Buckham, and R. Nicoll Continuous Collision Detection of Cubic-Spline Based Tethers in ROV Simulations, (accepted Oct. 2008) Journal of Offshore Mechanics and Arctic Engineering (JOMAE).
  
  

2008

• V. Garg, S. B. Nokleby, and J. A. Carretero, Force-moment capability analysis of redundantly-actuated spatial parallel manipulators, (article in press) Mechanism and Machine Theory, 2008. (DOI:10.1016/j.mechmachtheory.2008.05.011)
  
  
• I. Ebrahimi, J. A. Carretero, and R. Boudreau, Kinematic analysis and path planning of a new kinematically redundant planar parallel manipulator, Robotica, 26(3):405-413, May 2008. (DOI:10.1017/S0263574708004256)
  
  
• G. T. Pond and J. A. Carretero, Architecture optimization of three 3-PRS variants for parallel kinematic machining, Robotics and Computer-Integrated Manufacturing (article in press), February 2008 (DOI:10.1016/j.rcim.2007.09.002)
  
  
• I. Ebrahimi, J. A. Carretero, and R. Boudreau. A family of kinematically redundant planar parallel manipulators, Journal of Mechanical Design, Vol. 130, June 2008 (DOI:10.1115/1.2900723)
  
  
• J. A. Carretero, M. A. Nahon and R. P. Podhorodeski, Discussion: "Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator" (Tahmasebi, F., 2007, ASME J. Mech. Des., 129, pp. 320-325), Journal of Mechanical Design, Vol. 130, No. 3, March 2008 (DOI:10.1115/1.2829981)
  
  
• G. T. Pond and J. A. Carretero. Quantitative Dexterous Workspace Comparison of Serial and Parallel Planar Mechanisms, In Parallel Manipulators, edited by: J.-H. Ryu, I-Tech Education and Publishing, Vienna, Austria, 2008.
  
  
• J. A. Carretero, I. Ebrahimi, and R. A. Boudreau. A comparison between two motion planning strategies for kinematically redundant parallel manipulators. In P. Wenger and J. Lenarcic, editors, Advances in Robot Kinematics: Analysis and Design, Springer, 2008.
  
  
• S. M. O'Brien and J. A. Carretero. Augmented model of the 3-PRS manipulator for kinematic calibration. In P. Wenger and J. Lenarcic, editors, Advances in Robot Kinematics: Analysis and Design, Springer, 2008
  
  
• J. A. Carretero, S. B. Nokleby and F. Firmani, Wrench Capabilities of Redundantly‐Actuated Spatial Parallel Manipulators Using Wrench Polytopes, Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier, France, pp. 123-128, September 21-22, 2008.
  
  
• G. T. Pond and J. A. Carretero, Quantitatively Comparing Serial and Parallel Mechanisms in Terms of Dexterity, Proceedings of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier, France, pp. 105-116, September 21-22, 2008.
  
  
• J. A. Carretero, I. Ebrahimi, and R. Boudreau, A new motion planning strategy for kinematically redundant parallel manipulators, Proceedings of the 2008 CCToMM Symposium on Mechanisms, Machines, and Mechatronics / 2008 CSME Forum, Ottawa, Ontario, Canada, May 21-23 2008. CCToMM / CSME.
  
  
• J. A. Carretero, Redundancy in Parallel Manipulators, Seminar at the Laboratoire de Robotique, Université Laval, Quebec City, Quebec, 9 October 2008
  
  
• J. A. Carretero, Parallel manipulator kinematics and other robotics-related research at the RaM Lab, University of Ontario Institute of Technology, Oshawa, Ontario, 10 June 2008
  
  

2007

• P. Last, A. Raatz, J. A. Carretero and S. M. O'Brien, A General Approach to Solve the Singular Kinematic Problem, Proceedings of the 2007 IROS Conference, IEEE, San Diego, California, USA, 29 October - 2 November 2007
 
• V. Garg, J. A. Carretero and S. B. Nokleby, Determining the Force and Moment Workspace Volumes of Redundantly-Actuated Spatial Parallel Manipulators, Proceedings of the 2007 ASME Design Engineering Technical Conference, ASME, Las Vegas, Nevada, USA, 4-7 September 2007
 
• I. Ebrahimi, J. A. Carretero and R. Boudreau, 3-PRRR Redundant Planar Parallel Manipulator: Inverse Displacement, Workspace and Singularity Analyses, Mechanism and Machine Theory, Vol. 42, No. 8, pp. 1007-1016, August 2007
 
• I. Ebrahimi, J. A. Carretero and R. Boudreau, Actuation Scheme for a 6-DOF Kinematically Redundant Planar Parallel Manipulator, 12th IFToMM World Congress, Besançon, France, June 18-21, 2007
 
• A. R. Roy, J. A. Carretero and B. J. Buckham, Detecting Tether Self-Collisions in Tethered ROV Simulations, Proceedings of the 26th International Conference on Offshore Mechanics and Artic Engineering (OMAE 2007), ASME, San Diego, California, USA, 10-15 June 2007
 
• J. A. Carretero, M. A. Nahon and R. P. Podhorodeski, Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator, Journal of Mechanical Design, Vol. 129, No. 3, pp. 320-325, 2007, accepted for publication in the Journal of Mechanical Design, June 2007
 
• S. M. O'Brien, J. A. Carretero and P. Last, Self-Calibration of 3-PRS Manipulator Without Redundant Sensors, Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Saint-Hubert, Quebec, Canada, 31 May - 1 June 2007
 
• A. R. Roy and J. A. Carretero, Simulation of Contact Forces Between Cylindrical Slack Flexible Tethers in Self-Collision, Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Saint-Hubert, Quebec, Canada, 31 May - 1 June 2007
 
• I. Ebrahimi, J. A. Carretero and R. Boudreau, The 3-RPRR Kinematically Redundant Planar Parallel Manipulator, Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Saint-Hubert, Quebec, Canada, 31 May - 1 June 2007
 
• I. Ebrahimi, J. A. Carretero and R. Boudreau, Singularity Analysis of a Family of Kinematically Redundant Planar Parallel Manipulators, Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Saint-Hubert, Quebec, Canada, 31 May - 1 June 2007
 
• V. Garg, J. A. Carretero and S. B. Nokleby, Force-Moment Capabilities of Redundantly-Actuated Spatial Parallel Manipulators Using Two Methods, Proceedings of the 2007 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Saint-Hubert, Quebec, Canada, 31 May - 1 June 2007
 
• J. A. Carretero, Parallel Manipulator Kinematics and Other Robotics-Related Research at the RaM Lab, Seminar at the Institut de Robótica i Informática Industrial, Universitat Politécnica de Catalunya, Barcelona, Spain, 5 May 2007
 
• G. Pond and J. A. Carretero, Quantitative Dexterous Workspace Comparison of Parallel Manipulators, Mechanism and Machine Theory, Vol. 43, No. 13, 2007
 

2006

• G. Pond and J. A. Carretero, Formulating Jacobian Matrices for the Dexterity Analysis of Parallel Manipulators, Mechanism and Machine Theory, Vol. 41, No. 12, pp. 1505-1519, December 2006
 
• I. Ebrahimi, J. A. Carretero and R. Boudreau, Workspace Comparison of Kinematically Redundant Planar Parallel Manipulators , Proceedings of the 16th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2006), pp. 89-96, Warsaw, Poland, June 2006
 
• G. Pond and J. A. Carretero, Dexterity Analysis of Planar Parallel Manipulators, Proceedings of the 16th CISM-ToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2006), pp. 97-104, Warsaw, Poland, June 2006
 
• J. A. Carretero and G. Pond, Quantitative Dexterous Workspace Comparisons, Advances in Robot Kinematics: Mechanisms and Motion, pp. 297-306, Ljubljana , Slovenia , June 2006
 
• I. Ebrahimi, J. A. Carretero and R. Boudreau, Singularity Analysis of a New Kinematically Redundant Planar Parallel Manipulator, Proceedings of the 2006 CCToMM Symposium on Mechanisms, Machines, and Mechatronics (2006 CSME Forum), Calgary, Alberta, Canada, May 2006
 
• G. Pond, Dexterity and Workspace Characteristics of Complex Degree of Freedom Parallel Manipulators, PhD Thesis, Department of Mechanical Engineering, University of New Brunswick, 2006
 
• J. A. Carretero, Design and Simulation of Robotic Manipulator Systems, First Cregan Lecture, Faculty of Engineering, University of New Brunswick, Fredericton, New Brunswick, Canada, 2006
 

2005

• J. A. Carretero and M. A. Nahon, Solving Minimum Distance Problems with Convex or Concave Bodies Using Combinatorial Global Optimization, IEEE Transactions on Systems, Man and Cybernetics, Part B, Vol. 36, No. 6, December 2005
 
• J. A. Carretero, Simulacién de sistemas robóticos: del espacio interior al espacio exterior. (Simulation of Space Robotic Systems: from inner space to outer space), Plenary Session at the Mexican Society of Mechanical Engineers (SOMIM) Annual Congress, Morelia , Michoacán, México, 22 September 2005
 
• G. Pond and J. A. Carretero, Dexterous Workspace Optimization of the 3-PRS Manipulator, Proceedings the 5th International Conference on Intelligent Processing and Manufacturing of Materials, Monterey, California, USA, 19-23 July 2005
 
• G. Pond and J. A. Carretero, Dexterity Analysis of the Tricept Manipulator, Proceedings 2005 CCToMM Symposium on Mechanisms, Machines and Mechatronics, Saint-Hubert, Quebec, Canada, 26-27 May 2005
 
• C. van Driel and J. A. Carretero, Calibration of the 3-PRS Parallel Manipulator Using a Motion Capture System, Proceedings 2005 CCToMM Symposium on Mechanisms, Machines and Mechatronics, Saint-Hubert, Quebec, Canada, 26-27 May 2005
 
• R. L. Uppuluri and J. A. Carretero, Sub-Object Pruning Algorithm: A Novel Pruning Strategy for Distance Determination in Complex Dynamic Environments, Proceedings of the 2005 CCToMM Symposium on Mechanisms, Machines and Mechatronics, Saint-Hubert, Quebec, Canada, 26-27 May 2005
 
• C. G. van Driel, Calibration of the 3-PRS Parallel Manipulator Using a Motion Capture System, M.A.Sc Thesis, Department of Mechanical Engineering, University of New Brunswick, 2005
 
• R. L. K. Uppuluri, Distance Determination Algorithms With Novel Pruning Strategies for Complex Dynamic Simulations, M.A.Sc. Thesis, Department of Mechanical Engineering, University of New Brunswick, 2005
 
• J. A. Carretero and R. Uppuluri, Pruning Algorithms User Manual, Manual, 2005
 
• R. L. Uppuluri and J. A. Carretero, Sub-Object Pruning Algorithm: A Novel Pruning Strategy for Distance Determination in Complex Dynamic Environments, CSME Transactions, Vol. 29, No. 4, pp. 581-591, 2005
 
• C. van Driel and J. A. Carretero, Calibration of the 3-PRS Parallel Manipulator Using a Motion Capture System, CSME Transactions, Vol. 29, No. 4, pp. 645-654, 2005
 

2004

• J. A. Carretero, Simulation of Space Robotics Systems, Fredericton Space Society, University of New Brunswick, Fredericton, New Brunswick, Canada, 29 November 2004
 
• J. A. Carretero and B. Buckham, Simulation of Submerged Slack Tethers and their Interation with the Environment, Proceedings of the 23 International Conference on Offshore Mechanics and Artic Engineering (OMAE), ASME, Vancouver, B.C., Canada, 20-24 June 2004
 
• J. A. Carretero and B. J. Buckham, 2004, Simulation of Submerged Slack Tethers and their Interaction with the Environment, Proceedings The 23rd International Conference on Offshore Mechanics and Arctic Engineering, 20-24 June 2004 , Vancouver , British Columbia , Canada
 
• G. T. Pond and J. A. Carretero, Kinematic Analysis and Workspace Determination of the Inclined PRS Parallel Manipulator, Proceedings of the 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2004), Montreal, Québec, Canada, 14-18 June 2004
 
• G. T. Pond and J. A. Carretero, 2004,Workspace Optimization of the Inclined PRS Manipulator, Proceedings of the 2004 CCToMM Symposium on Mechanisms, Machines, and Mechatronics (2004 CSME Forum), London, Ontario, Canada, 1-4 June 2004
 
• J. A. Carretero and R. L. Uppuluri, A Novel Optimization-based Pruning Strategy for Concave Minimum Distance Problems, Proceedings of the 2004 CSME Forum, London, Ontario, Canada, 1-4 June 2004
 
• J. A. Carretero, Geometry Toolbox for Matlab (Version 1.4), Book, University of New Brunswick, 2004
 

2003

• J. A. Carretero, Algoritmos Genéticos y su uso en la simulación de sistemas robóticas (Genetic algorithms and their use in the simulation of robotic systems), Universidad Nacional Autónoma de México (UNAM), Facultad de Ingeniería, Mexico City , Mexico, 8 January 2003
 
• J. A. Carretero, Manipuladores paralelos y sus aplicaciones (Parallel manipulators and their applications), Universidad Nacional Autónoma de México (UNAM), Facultad de Ingeniería, Mexico City, Mexico, 8 January 2003
 

2002

• J. A. Carretero, M. A. Nahon, and O. Ma, Using Genetic Algorithms with Niche Formation to Solve the Minimum Distance Problem Amongst Concave Objects, Proceedings of the 2002 ASME Design Engineering Technical Conference, Montreal , Québec , Canada , 29 September - 2 October 2002
 
• J. A. Carretero, Distance Determination Algorithms for Convex and Concave Objects, PhD Thesis, Department of Mechanical Engineering, University of Victoria, 2002
 

2001

• J. A. Carretero, M. A. Nahon, and O.Ma, Solving the Minimum Distance Problem Between Convex or Concave Bodies Using Simulated Annealing, Proceedings of the 2001 IEEE Conference on Intelligent Robots and Systems, Maui , Hawaii , USA , October 2001
 
• J. A. Carretero and M. A. Nahon, A Genetic Algorithm for Calculating Minimum Distance Between Convex and Concave Bodies, Proceedings of the 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space: A New Space Odyssey, Montréal, Québec , Canada , 18-22 June 2001
 
• J. A. Carretero and M. A. Nahon, Distance Determination Algorithms for Convex and Concave Objects, Contact Dynamics Workshop, Canadian Space Agency, St. Hubert, Québec, Canada, June 2001
 

2000

• J. A. Carretero, M. A. Nahon, and R. P. Podhorodeski, Workspace Analysis and Optimization of a Novel 3-DOF Parallel Manipulator, International Journal of Robotics and Automation, Vol. 15, No. 4, pp. 178-188, December 2000
 
• J. A. Carretero, R. P. Podhorodeski, M. A. Nahon, and C. M. Gosselin, Kinematic Analysis and Optimization of a New Three-Degree-of-Freedom Spatial Parallel Manipulator, Journal of Mechanical Design, Vol. 122, No. 1, pp. 17-24, March 2000
 

1999

• D. Crampton, J. A. Carretero, et. al., Canadian Near-IR MOS/IFS Concept for NGST, Next Generation Space Telescope Science and Technology, ASP Conference Series Vol. 207, Hyannis, Massachusetts, USA, 13-16 September 1999
 
• B. Buckham, J. A. Carretero, D. Erickson, M. A. Nahon, and I. Sharf, NGST MOS Slit Mask Design, Technical Report, Submitted to the Dominion Astrophysical Observatory, 1999
 
• J. A. Carretero, An Overview of Distance Determination Algorithms for Contact Dynamics with Examples, Technical Report, Submitted to the Space and Subsea Robotics Labratory, University of Victoria, 1999
 

1998

• J. A. Carretero, M. Nahon, and R. P. Podhorodeski, Workspace Analysis of a Three-DOF Parallel Manipulator, Proceedings of the 1998 IROS Conference, IEEE, Victoria , B.C., Canada , October 1998
 
• J. A. Carretero, R. P. Podhorodeski, and M. Nahon, Architecture Optimization of a Three-DOF Parallel Manipulator, Proceedings of the 1998 ASME Design Engineering Technical Conference, Atlanta , Georgia , USA, September 1998
 
• J. A. Carretero, Analysis of a Three-Degree-of-Freedom Parallel Mechanism, M.A.Sc. Thesis, Department of Mechanical Engineering, University of Victoria, 1998
 

1997

• J. A. Carretero, M. Nahon, C. M. Gosselin, and B. Buckham, Kinematic Analysis of a Three-DOF Parallel Mechanism for Telescope Applications, Proceedings of the 1997 ASME Design Engineering Technical Conferences, Sacramento, California, USA, September 1997
 

1996

• J. A. Carretero, Estudio y Diseño de un Sistema Automatizado de Almacenamiento y Recolección de Piezas como parte de un Sistema de Manufactura Flexible (Study and Design of a System Automated for Storage and Harvesting of Pieces as part of a Flexible Manufacturing System), B. Eng. Thesis, Universidad Nacional Autónoma de México (UNAM), Facultad de Ingeniería, Ciudad Universitaria, México City, México, 1996