in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

For analytic functions f(z) in the open unit disk U with f(0) = 0 and f ′(0) = 1, S. S. Miller, P. T. Mocanu and M. O. Reade (Proc. Amer. Math. Soc. 37(1973)) have introduced α-convex functions in U with some condition, and Z. Lewandowski, S. S. Miller and E. Zl /otkiewicz (Ann. Univ. Marie-Curie Skl /odowska 27(1974)) have discussed γ-starlike functions in U with some condition. The object of ...

legs to assist walking and moving up-and-down stairs [1]. A control bar is attached to the robot waist to assist the aged person by stepping onto the feet of the robot. The robot “Zero Walker-1” [2] focused on ascending and descending stairs. An electric wheelchair named “iBOT” [3], capable of ascending and descending stairs and slopes was released by a Japanese company. In [4], a bipedal robot...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...