General Robot Kinematics Decomposition Without Intermediate Markers

Robot Kinematics: Forward and Inverse Kinematics

Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling ...

Robot Kinematics and Dynamics

Using PSOMs to Learn Inverse Kinematics Through Virtual Decomposition of the Robot

We propose a technique to speed up the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any requirement on the robot architecture and, thus, it is completely general. Parametrized Self-Organizing Maps (PSOM) are particularly adequate for this type of learning, and pe...

On-line Joint/Cartesian Optimal Control of Redundant Robot Manipulators Without Inverse Kinematics

This article presents a novel on-line optimal control for redundant robot manipulators for which inverse kinematics is not required. The controller considers a Cartesian PID control that yields stability of the closed loop, but presents poor performance unless using high gains. A joint space dynamic optimal control based on the gradient flow approach is introduced to improve the performance of ...

Neuro-Controller with Simultaneous Perturbation for Robot Arm - Learning of Kinematics and Dynamics without Jacobian

We report two control schemes for a two-link robot arm system using a neuro-controller. We adopted the simultaneous perturbation learning rule for a neuro-controller. Ordinary gradient type of learning rule uses Jacobian of the objective system in a direct control scheme by a neural network. However, the learning rule proposed here requires only two values of an error function. Without Jacobian...