Modular manipulator designs have long been been considered for use as research tools, and as the basis for easily modified industrial manipulators. In these manipulators the links and joints are discrete and modular components that can be assembled into a desired manipulator configuration. As hardware advances have made actual modular manipulators practical, various capabilities of such manipul...

The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair respectively. A set of three compatibility equations is laid down that, following algebraic elimination, results in a 28 th -order univariate algebraic equation,...

For redundant robot kinematics we construct an extended Jacobian inverse that approximates the Jacobian pseudo-inverse. Our construction relies on the approximation of codistributions associated with the Jacobian pseudo-inverse by an integrable codistribution, spanned by differentials of certain functions that serve as components of the augmenting kinematics map in the extended Jacobian inverse...

The inverse kinematics problem in robotics requires the determination of the joint angles for a desired position of the end-effector. For this underconstrained and ill-conditioned problem we propose a solution based on structured neural networks that can be trained quickly. The proposed method yields multiple and precise solutions and it is suitable for real-time applications. © 1999 Elsevier S...

Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory by real system may differ greatly from...

This paper presents a new approach to the problem of finding the minimum number of inertial parameters of robot manipulator dynamic equations of motion. Based upon the energy difference equation, it is equally applicable to serial link manipulators as well as graph structured manipulators. The method is conceptually simple, computationally efficient, and easy to implement. In particular, the ma...

Recursive modelling for the kinematics and dynamics of the known 3-PRR planar parallel robot is established in this paper. Three identical planar legs connecting to the moving platform are located in a vertical plane. Knowing themotion of the platform,we develop first the inverse kinematics and determine the positions, velocities and accelerations of the robot. Further, the principle of virtual...

This work presents a design example of a generic six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. It is meant as a practical guideline covering the basic theory of Stewart platforms and the actual low cost realization suitable for rapid prototyping. The inverse kinematics solution and a coarse-grained evaluation are provided for the actually constructed prototy...

In this paper we present a uniied approach for solving the inverse kinematics problem of an arbitrary robotic manipulator based on Genetic Algorithms. The tness function we use in our algorithm does a multi-objective optimization satisfying both the position and orientation of the end-eeector. As an example we show how this approach can be used for computing the motion of an n-R robotic manipul...