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...

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a...

The objective of this paper is to develop an outer sheath for flexible endoscopic manipulators. This sheath can switch two states including flexible and rigid, and make a rigid curved path for inserting manipulators. The flexible mode can be curved into a required shape. The rigid mode can hold the shape of the sheath, and then keep the path for instruments. Through the managed path, the flexib...

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...

Dynamic equations of motion of flexible manipulators are more complicated than those of rigid manipulators. The number of equations of motion increases as the number of modes to be included increases. It is difficult to Ullderstand the effect of flexible motion on rigid motion via recursive forms of the equations of motion for multi-link arm even if it were efficient. On the other hand, the clo...

Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected to active winches to provide a variable length and hence to actuate the mechanism or may be only to provide a kinematic constraint to eliminate an undesired motion of the endeffector. Ma...