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...

Both the forward and backward kinematics of the Gough-Stewart mechanism exhibit nonlinear behavior. It is critically important to take account of this nonlinearity in some applications such as path control in parallel kinematics machine tools. The nonlinearity of inverse kinematics is straightforward and has been first studied in this paper. However the nonlinearity of forward kinematics is mor...

Many applications in computer animation portray the motion of a human arm and torso. Often such applications can benefit from a combination of Inverse (IK) and Forward (FK) Kinematics controls to manipulate the arms of the model. The human arm is a kinematic chain with seven degrees of freedom. The previous analytic solution to this kinematic chain gives highly detailed IK controls, but problem...

This paper represents an analytical approach for solving forward kinematics problem of a serial robot manipulator with six degrees of freedom and a specific combination of joints and links to formulate the position of the gripper by a given set of joint angles. In addition, a direct geometrical solution for the robot’s inverse kinematics problem will be defined in order to calculate the robot’s...

The human nervous system is equipped with a forward kinematics model, which calculates the hand positions using proprioceptive information. Since signi2cant evidence suggests that the forward dynamics model is used for general motion control, the forward kinematics model also seems to be used for the control of visually guided reaching. However, we believe that the forward kinematics model play...

To meet the objectives of many future missions, robots will need to be adaptable and reconfigurable. A concept for such a robotic system has been proposed previously based on using a large number of simple binary actuators. Previous researchers have addressed some of the issues brought up by robots with a few binary actuators. This paper examines the computational feasibility of controlling and...

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (pr...

Robots promise to enhance minimally-invasive surgery, but flexion of the thin instrument shaft introduces error into models of the robot kinematics. Visual or electromagnetic tracking of the instrument tip provides correct forward kinematics, but uncertainty in shaft bending and port location leaves residual errors in inverse kinematics. These errors can cause incorrect motions that preclude th...

Abstract In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics, the proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of jointpositions allowing a specific point of the system to achieve a target position. In IK-FA, the Fireflies positions are assumed to be a possible solution for joint...