This paper presents an algorithm that solves the inverse kinematics problem of all six degrees of freedom manipulators, "general" or "special". A manipulator is represented by a chain of characters that symbolizes the position of prismatic and revolute joints in the manipulator and the special geometry that may exist between its joint axes. One form of the loop closure equation is chosen and th...

Article history: Received 13 July 2013 Received in revised form 3 August 2013 Accepted 6 August 2013 Available online 14 September 2013 The topic of reachable workspaces of robotic manipulators has received considerable attention over the past half century. One approach to generating workspaces is by sampling joint angles and evaluating the boundary of the resulting set in the space of rigid-bo...

This paper studies the workspace of a six-degrees-of-freedom parallel manipulator of the general three-PPSR (prismaticprismatic-spheric-revolute) type. It is known that a drawback of parallel manipulators is their limited workspace. To develop parallel mechanisms with a larger workspace is of use to potential applications. The mechanism of a three-PPSR manipulator and its variations are briefly...

A regressor-based variable structure control scheme has been developed for the trajectory control of robot manipulators in the presence of disturbances, parameter variations, and unmodeled dynamics. The method is based on the regressor structure given by Slotine and Li, 131, without parameter adaptation. This avoids the requirement of persistency of excitation, and the convergence of the overal...

Robo-analyzer (RA) is open-source software that uses a 3D representation of robot manipulator to carry out various analytical studies. It was created primarily assist instructors and students in getting started with robotics teaching learning utilizing framework-based skeleton models or computer aided design (CAD) designs serial robots i.e., articulated robot. The RA used this work simulate exa...

In this study, the three-dimensional (3D) asymmetric maximum weight lifting is predicted using an inverse-dynamics-based optimization method considering dynamic joint torque limits. The limits are functions of angles and angular velocities, imposed on hip, knee, ankle, wrist, elbow, shoulder, lumbar spine joints. 3D model has 40 degrees freedom (DOFs) including 34 physical revolute joints 6 glo...

In this paper, we propose a Sectorial Fuzzy Controller (SFC) with feedforward compensation of the robot dynamics in joint space, evaluated at desired angular positions, velocities, and accelerations, applied to trajectory tracking all revolute joints robotic arms. Global uniform asymptotic stability proof applying direct Lyapunov theorem, is introduced for new control scheme by using strict fun...

The control of industrial robot manipulators presents a difficult problem for engineers due to the complexity dynamics models. Nonlinear controls based on feedback linearization are developed meet requirements. Model-based nonlinear is highly sensitive parameter errors and leads problems robustness tracking trajectories at high speeds, there additional heavy computational burden consider in des...

The subject of this paper is a hybrid hip biped climbing robot. The hybrid hip provides both prismatic and revolute motion, discretely, to the robot, using a single actuator. This is intended to improve its adaptability in confined environments and its capability to maneuver over and around obstacles. Optimization of the hybrid hip relative to robot size, weight, and actuation limits is conside...