Aiming at the robotization of grinding process in steel bar finishing process, robot can achieve goal fast, efficient, and accurate online operation, a multi-layer forward propagating deep neural network (DNN) method is proposed to efficiently predict kinematic solution robot. The kinematics model are introduced. Based on method, simulations end position orientation, joint angle given. Three di...

Many problems in kinematic synthesis of mechanisms and robots lead naturally to systems of bilinear equations in design parameters. Such systems are typically solved using well-known methods for solutions of systems of polynomial equations, e.g., Dialytic Elimination, Grobner bases, and Polynomial Continuation. This paper presents a new nullspace analysis method for solving a system of bilinear...

mechanism, elastic displacement Abstract—This paper has as main purpose to identify the dynamic components of the matrices in the motion equation, combining the motion of rigid body with the one of elastic body. The finite element modeling requires the identification of a proper procedure in order to establish accurate boundary conditions which assure continuous motion in the nodes. Finally, an...

A biped robot with heterogeneous legs (BRHL) is proposed to provide an ideal test-bed for intelligent bionic legs (IBL). To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM) is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of free...

In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model...

Learning is known to be accompanied by induction of c-Fos expression in cortical neurons. However, not all neurons are involved in this process. What the c-Fos expression pattern depends on is still unknown. In the present work we studied whether and to what degree previous animal experience about Task 1 (the first phase of an instrumental learning) influenced neuronal c-Fos expression in the r...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

The integration of information from a combination of different types of observed instruments (sensors) are often used in the design of high-accuracy control systems. Typical applications that benefit from this use of multiple sensors include industrial tasks, military commands, mobile robot navigation, multi-target tracking, and aircraft navigation (see (hall, 1992, Bar-Shalom, 1990, Bar-Shalom...