Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator

Inverse Kinematics Solution and Verification of 4- DOF Hydraulic Manipulator

Implementation of Artificial Neural Network applied for the solution of inverse kinematics of 2-link serial chain manipulator

In this study, a method of artificial neural network applied for the solution of inverse kinematics of 2-link serial chain manipulator. The method is multilayer perceptrons neural network has applied. This unsupervised method learns the functional relationship between input (Cartesian) space and output (joint) space based on a localized adaptation of the mapping, by using the manipulator itself...

Analyses of Inverse Kinematics, Statics and Workspace of a Novel 3RPS- 3SPR Serial-Parallel Manipulator

A novel 3RPS-3SPR serial-parallel manipulator (S-PM) with 6 degree of freedoms (DOFs) is proposed in this paper. It includes a lower 3RPS parallel manipulator (PM) and an upper 3SPR PM. Its inverse kinematics, active forces and workspace are solved. First, the inverse displacement is solved in close form based on the geometrical and the dimensional constraints of this S-PM. Second, the 9×9 and ...

Inverse kinematics of a serial manipulator: kinematic redundancy and two approaches for closed-form solutions

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment of which scooping buckets are attached around a rotating disk, kinematic redundancy occurs in aktermining joint variables. Link coordinates are introduced following the Denavit-Hatenberg representation. For a given excavation...

Introduction to the inverse kinematics of serial manipulators

Position analysis is an essential step in the design, analysis and control of robots. In this article, a basic introduction to the position analysis of serial manipulators is given. This topic is invariably covered in all the textbooks on this subject. Therefore, instead of repeating the standard details of forward kinematics, such as, the designation of the reference frames, determination of t...