The inverse kinematics of serial manipulators is a central problem in the automatic control of robot manipulators The main interest has been in inverse kinematics of a six revolute jointed manipulator with arbitrary geometry It has been recently shown that the joints of a general R manipulator can orient themselves in di erent con gurations at most for a given pose of the end e ector However th...

This paper presents a real-time, vision-based algorithm for the pose and motion estimation of non-cooperative targets and its application in visual servo robotic manipulator to perform autonomous capture. A hybrid approach of adaptive extended Kalman filter and photogrammetry is developed for the real-time pose and motion estimation of noncooperative targets. Based on the pose and motion estima...

In this paper the design of a new DOF RPRS parallel manipulator has been proposed Di erent from the conventional Stewart Gough platform manipulator which has six extensible legs the RPRS parallel manipula tor employs three identical RPRS legs to support the mov ing platform Consequently it possesses a compromised per formance e g workspace accuracy and sti ness between a serial robot and a six ...

The solution of the inverse kinematics is required in many technical applications. In this contribution a concept is proposed which reformulates the inverse kinematics (IK) of kinematically redundant manipulators as a linear programming (LP) problem. This formulation enables the explicit consideration of technical constraints as for example mechanical end-stops, velocity and, if necessary, acce...

Matrix relations in kinematics and dynamics of the Star parallel manipulator are established in this paper. The prototype of the manipulator is a three-degree-of-freedom mechanism, which consists of a system of parallel kinematical chains connecting to a moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, v...

The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from th...

The increasing utilization of artificial intelligence and robots in various services healthcare makes as preferred intelligent agent model. Robotic evolution produces the optimal robotic innovation system or its subsystems, morphology, kinematics, control. An algorithm is programmed into control manipulator. This paper aims to identify comparisons algorithms for manipulators. study uses a syste...

Despite the voluminous publications on robot dynamics and control, the literature to date is based solely on the serial link manipulators. Little attention has been given to the alternative manipulator design based on the concept of in-parallel actuated mechanism, which is characterized by its excellent rigidity, high strength-to-moving-weight ratio, and relatively simple inverse kinematics. Th...

A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently...

This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...