This is a theoretical paper which aims to integrate various epistemologies from the philosophical, knowledge management, psychological, cognitive science, and educational perspectives. Due to the general lack of consensus over what knowledge is, we have developed an ontology of knowledge not only seeks to unify the epistemologies but also to clarify the distinctions between knowledge and inform...

This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse kinematics uses the quadratic equations mo...

The calculation of forces in the kinematic pairs of mechanisms by inverse dynamics is usually performed without friction considerations. In practice, when examination of articulated mechanisms takes into account friction, the solution of the inverse dynamics results in a complex procedure. If a modular approach for the inverse dynamics is used, then exact solutions are available, but not necess...

This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based on introducing kinematic constraints....

A visualized dynamic simulation platform of picking robot based on OpenGL and Matlab is established in order to verify the validity of kinematics analysis and visually reflect the motion process. The robot kinematic model is established with D-H method and the forward kinematic solution for the robot is obtained. The inverse kinematic solution is solved by using the simplified inverse transform...

Application of artificial neural network (ANN) in forward kinematic solution (FKS) of a novel co-axial parallel mechanism with six degrees of freedom (6-DOF) is addressed in Current work. The mechanism is known as six revolute-spherical-universal (RSU) and constructed by 6-RSU co-axial kinematic chains in parallel form. First, applying geometrical analysis and vectorial principles the kinematic...

Purpose: This study tries to develop a simulation model of six degree freedom for Faraman AM1 welding robot using CATIA V5 and compares with the computed kinematic model for robotic welding. The error varification of simulated model and kinematics of the robot is also being carried out. Design/methodology/approach: CATIA (Computer Aided Three dimensional Interactive Application) is a multi-plat...

The inverse kinematic (IK) relationship of a manipulator is a one-to-many map which can not be learnt using a feed-forward neural network (FFN). The usual method is to learn the forward kinematic relationship using a FFN and then obtaining the IK solution through inversion of the approximate forward model. The accuracy of the inverse kinematic solution thus obtained is limited by the accuracy o...

Commonly, the inverse kinematic function of robotic manipulators is derived analytically from the robot model. However, there are cases in which a model is not a priori available. In this paper, we propose an approach that enables an autonomous robot to estimate the inverse kinematic function on-the-fly directly from self-observation and without a given kinematic model. The robot executes rando...

This paper presents the software package SYMORO+ for the automatic symbolic modelling of robots. This package permits to generate the direct geometric model, the inverse geometric model, the direct kinematic model, the inverse kinematic model, the dynamic model, and the inertial parameters identification models. The structure of the robots can be serial, tree structure or containing closed loop...