The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used...

In this paper, the authors describe a novel technique based on continuous genetic algorithms (CGAs) to solve the path generation problem for robot manipulators. We consider the following scenario: given the desired Cartesian path of the end-effector of the manipulator in a free-of-obstacles workspace, off-line smooth geometric paths in the joint space of the manipulator are obtained. The invers...

In the literature we find a variety of mathematical approaches for solving problems in robotics which we will review now briefly. Denavit and Hartenberg [60] introduced the mostly used kinematic notation for lower pair mechanisms based on matrix algebra, Walker [243] used the epsilon algebra for the treatment of the manipulator kinematics, Gu and Luh [99] utilized dual– matrices for computing t...

This paper presents an efficient method for solving the direct kinematics of parallel manipulators that follow a defined singularity-free trajectory. Despite the main problem is to solve the inverse kinematics, calculating the errors between the desired path and the actual path requires solving the forward kinematics which is a challenging problem. The proposed method combines closed-loop Jacob...

An inverse dynamics and kinematics of a flexible manipulator is derived in symbolic form based on the recursive Lagrangian assumed mode method. A PC-based program has implemented the algorithm to automatically generate the inverse dynamics and kinematics for an elastic robot in a symbolic form. A case study is given to illustrate how to use this program for inverse dynamic and kinematic generat...

In this paper we are presenting a method to solve the inverse kinematics problem of a redundant manipulator with seven degrees of freedom and a human like workspace based on mathematical equations, Fuzzy Logic implementation and Simulink models. For better visualization of the kinematics simulation a CAD model that mimics the real robotic arm was created into SolidWorks® and then the CAD parts ...