We present a neural method that computes the inverse kinematics of any kind of robot manipulators, both redundant and non-redundant. Inverse kinematics solutions are obtained through the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics. The inversion provides difference vectors in the joint space from difference vectors in the work...

Abstract When using redundant medical robots for hand-guiding heavy endoscopic tools, admittance control allows a completely defined tool and robot null space motion control. Although not novel concept, comparative studies that help to design implement are missing. In user study, we compared four controllers: one zero-torque controller used measured joint torques three others differently mappin...

Background: Hip involvement in ankylosing spondylitis (AS) is a common extraspinal arthritic manifestation, which is associated to a worse functional outcome. Little data are available on the effectiveness of conservative treatment strategies. The TNF inhibitors have been proven effective on AS activity parameters. Their structural effect on hip disease however, little is studied. Case pres...

Research on motion characteristics of the space flexible-joint flexible-link manipulator is investigated. The equations N degree freedom (DOF) flexible are established by means Newton-Euler method and finite segment considering both computational efficiency accuracy. genetic algorithm used to identify parameters torsional stiffness damping related link flexibility. derived model involves dynami...

Flexible manipulators are extensively used in industries. A theoretical analysis of intelligent tracking controller based on emotional learning model in mammalians brain for single-link flexible-joint manipulator is presented. Brain emotional learning based intelligent controller (BELBIC) is an intelligent controller based on the model of emotional part of brain. In this paper, BELBIC is applie...

The dynamical model of manipulator robot is represented by equations systems which are nonlinear and strongly coupled. Furthermore, the inertial parameters of manipulator depend on the payload which is often unknown and variable. The sliding mode controller (SMC) provides an effective and robust means of controlling nonlinear plants. The performance of SMC depends on control parameter selection...

This paper proposes a fuzzy TSK controller to control a rotary flexible joint manipulator. The flexibility of joint is performed by means of a solenoid nonlinear spring, which is connected between actuator output and joint input in a bilateral connection form to transfer the produced torque; also the smooth model of frictions is used for modeling the dynamics of flexible manipulator. The effect...

SUMMARY A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method. 1. INTRODUCTION The design of a redundant manipulat...

Micro-aerial vehicles (MAV) and their promising applications—such as undetected surveillance or exploration of environments with little space for land-based maneuvers—are a wellknown topic in the field of aerial robotics. Inspired by high maneuverability and agile flight of insects, over the past two decades a significant amount of effort has been dedicated to research on flappingwing MAVs, mos...

Previous studies on overarm throwing have suggested that throwing accuracy depends on a precise central timing mechanism. In the present study, we investigated an alternative hypothesis: that central control of finger opening is based on an internal positional representation of handpath. Angular positions of each segment of the middle finger, thumb, and arm were recorded with the search-coil te...