Research

Journal Articles

• G. L. Long, C. L. Collins, and J. M. McCarthy. Design and control of a parallel platform teleoperator interface. Transactions of the American Nuclear Society, vol. 64, pages 630-632, 1991.
  
  
• C. L. Collins and G. L. Long. The Singularity Analysis of an In-Parallel Hand Controller for Force-Reflected Teleoperation. IEEE Transactions on Robotics and Automation, 11(5):661-669, October 1995.
  
  
• C. L. Collins and J. M. McCarthy. The Quartic Singularity Surfaces of Planar Platforms in the Clifford Algebra of the Projective Plane. Mechanism and Machine Theory, 33(7):931-944, 1998.
  
  
• C. L. Collins. Forward Kinematics of Planar Parallel Manipulators in the Clifford Algebra of P2. Mechanism and Machine Theory, 37(8):799-813, 2002.
  
  
• C.L. Collins, J.M. McCarthy, A. Perez, and H. Su, The Structure of an Extensible Java Applet for Spatial Linkage Synthesis, ASME Journal of Computing and Information Science in Engineering, 2(1):45–49, 2002.
  
  
• H. Su, C.L. Collins, and J.M. McCarthy. ClassiÞcation of RRSS Linkages, Mechanism and Machine Theory, 37:1413–1433, 2001.
  
  
• C.L. Collins, Kinematics of Robot Fingers with Rolling Contact Joints, Journal of Robotic Systems, 20(3):285-296. 2003.
  
  
• L. Tian, C.L. Collins, and R. Chu, Optimal Trajectory Planning of Redundant Manipulators in Constrained Workspace, Electronics Letters, 2002. (In Press)
  
  
• L. Tian, and C.L. Collins, Motion Planning for Redundant Manipulators Using a Floating Point Genetic Algorithm, Journal of Intelligent & Robotic Systems, 2002. (In Press)
  
  
• C.L. Collins, Kinematics of a Spatial Three Degree-of-Freedom Robot with Rolling Contact Joints, Journal of Mechanical Design, 2003. (Accepted)
  
  
• L. Tian and C.L. Collins, Optimal Placement of a Robot Using a Genetic Algorithm, Robotica, 2003. (Submitted)
  
  
• C.L. Collins, Inverse Kinematics of Planar Serial Mechanisms with Rolling Contact Joints, Mechanism and Machine Theory, 2003. (Submitted)
  

• G. L. Long and C. L. Collins. A pantograph linkage parallel platform master hand controller for force-reflection. In Proceedings 1992 IEEE International Conference on Robotics And Automation, Nice, France, vol.1, pages 390-395, 1992.
  
  
• C. L. Collins and G. L. Long. Line geometry and the singularity analysis of an in-parallel hand controller for force-reßected teleoperation. In 1994 ASME Mechanisms Conference, Minneapolis, MN, vol. DE-72, pages 361-369, 1994.
  
  
• C. L. Collins and G. L. Long. On the duality of twist/wrench distributions in serial and parallel chain robot manipulators. In Proceedings of 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, vol.1, pages 526-531, 1995.
  
  
• C. L. Collins and J. M. McCarthy. A generalized Grashof condition for planar platform manipulator design. Proceedings of the 1996 IASTED International Conference on Robotics and Manufacturing, Honolulu, Hawaii, pages 28-31, September 1996.
  
  
• C. L. Collins and J. M. McCarthy. The quartic singularity surfaces of planar parallel manip-ulators. IASTED Fifth International Conference on Robotics and Manufacturing, Cancun, Mexico, May 2931, 1997.
  
  
• C. L. Collins and J. M. McCarthy. The singularity loci of two triangular parallel manipu-lators. 8th International Conference on Advanced Robotics, Monterey, California, July 7-9, 1997.
  
  
• C. L. Collins, ClassiÞcation and Forward Kinematics of Planar Parallel Manipulators, The International Workshop on Parallel Kinematic Machines, Milan, Italy, Nov 30, 1999.
  
  
• C. L. Collins, Kinematics of a Planar Robot with Rolling Contact Joints, International Sym-posium on Advances in Robot Kinematics, 2002.
  
  
• C. L. Collins, Kinematics of a Spatial Three Degree-of-Freedom Robot with Rolling Contact Joints, 2002 ASME Design Engineering Technical Conferences, Montreal, Canada, 2002.
  
  
• C. L. Collins, J. M. McCarthy, H. Su, An Extensible Java Applet for Linkage Synthesis, 2002 ASME Design Engineering Technical Conferences, Montreal, Canada, 2002. (This paper received the ASME Mechanical Dynamics Simulation Software Award)
  
  
• C. L. Collins, Forward Kinematics of 3-GPR Planar Parallel Manipulators with Circular Rolling Contact Joints, 2003 ASME Design Engineering Technical Conferences, Chicago, Illinois, 2003.