The wheel loader is modeled as a mechanical manipulator with four degrees of freedom (DOFs), which comprises a seven-bar linkage using the symbolic notation of Denavit and Hartenberg. Homogeneous transformation matrices are used to capture the spatial configuration between adjacent links. The forward kinematics method is used to formulate the kinematics equations by attaching Cartesian coordina...

Most researches so far on robot control have assumed that the exact kinematics and Jacobian matrix of the manipulator from joint space to Cartesian space are known. Unfortunately, no physical parameters could be derived exactly. In addition, the robot is required to interact with its environment and hence the overall parameters would change according to different tasks. In this paper, simple fe...

In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the develop...

In this paper, different approaches are presented to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using mainly numeri...

Hyper-redundant manipulators present an alternative to conventional 6 DOF manipulators for inspection , space, and medical applications. The additional degrees of freedom facilitate obstacle avoidance and allow tasks to be performed even if some of the actu-ators fail. In this paper we consider hyper-redundant manipulators that are actuated discretely, e.g. using two-state actuators or motors w...

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a three-dof translational parallel manipulator that belongs to the family of Delta robots, and ii) the Agile eye; a two-dof parallel spherical wrist. The geometric a...

We developed a novel concept of hybrid mixed force position control based on neu ral networks NFC Neural Force Control to signi cantly expand the range of manipulator applications NFC includes neural approaches for complex robotic mappings such as inverse dynamics and kinematics A Neural Dynamics Network NDN as the essential component of a computed torque controller performs a fast and adaptive...

In order to apply intelligent robot control to complex force position tasks we developed a novel concept for force position control based on neural networks NN A neural dynamic net NDN contains a neural computed torque controller which delivers a precise mapping of the inverse model of the real manipulator Speci cally the mapping considers di erent types of nonlinear properties which are essent...

High redundancy and strong uncertainty are two main characteristics for underwater robotic manipulators with unlimited workspace and mobility, but they also make the motion planning and control difficult and complex. In order to setup the groundwork for the research on control schemes, the mathematical representation is built by using the Denavit-Hartenberg (D-H) method [9]&[12]; in addition to...

In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...