Unified Computation of Kinematics and Dynamics for Robot Manipulators

An Adaptive Impedance Controller for Robot Manipulators

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

Robot Kinematics and Dynamics

Adaptive RBF network control for robot manipulators

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

Modular and Recursive Kinematics and Dynamics for Parallel Manipulators

Constrained multibody systems typically feature multiple closed kinematic loops that constrain the relative motions and forces within the system. Typically, such systems possess far more articulated degrees-of-freedom (within the chains) than overall end-effector degrees-of-freedom. Thus, actuation of a subset of the articulations creates mixture of active and passive joints within the chain. T...

Inverse kinematics solutions for industrial robot manipulators with offset wrists

In this paper, the inverse kinematics solutions for 16 industrial 6-Degrees-of-Freedom (DOF) robot manipulators with offset wrists are solved analytically and numerically based on the existence of the closed form equations. A new numerical algorithm is proposed for the inverse kinematics of the robot manipulators that cannot be solved in closed form. In order to illustrate the performance of th...