This paper concerns the forward kinematics and tension distribution of sinking winches mechanism, which is a type of four-cable-driven partly constrained parallel robot. Conventional studies on forward kinematics of cable-driven parallel robot assumed that all cables are taut. Actually, given the lengths of four cables, some cables may be slack when the platform is in static equilibrium. Theref...

The paper presents an application of Interval Newton method to solve the inverse kinematics and redundancy resolution of a serial redundant manipulator. Such inverse problems are often encountered when the manipulator link lengths, joint angles and end-effector uncertainty bounds are given, which occurs due to because of inaccuracies in joint angle measurements, manufacturing tolerances, link g...

We study redundant robot kinematics around singular configurations of corank 1. Sufficient conditions are derived under which the kinematics become equivalent to a hyperbolic normal form. These conditions are specified further to non-redundant kinematics, and illustrated with examples of a double pendulum with links of equal length at the fully folded down configuration as well as of the PUMA m...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...

A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three legged, three degree of freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The invers...

In this paper, a combined control of a mobile manipulator is studied, the platform is velocity controlled and the manipulator is torque controlled. Our objective is to develop a control method which generates the adequate articular torques and kinematics control to move the end-effector and the platform for executing the task efficiently without any collisions between the mobile manipulator (ma...

In this paper a simulink based approach is developed for trajectory tracking of robot manipulator. A robot manipulator is widely used in many industrial application. A robot manipulator moves the end effector to the configuration instructed by the user. The input from the main unit is transformed in to the desired configuration through forward kinematics. This configuration is sent to the robot...

This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai’s manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that...

Inverse kinematics analysis plays an important role in developing a robot manipulator. But it is not too easy to derive the inverse kinematic equation of a robot manipulator especially robot manipulator which has numerous degree of freedom. This paper describes an application of Artificial Neural Network for modeling the inverse kinematics equation of a robot manipulator. In this case, the robo...

In this paper, a method for solving forward and inverse kinematics of redundant manipulator is proposed. Obtaining the joint variables of these manipulators from a desired position of the robot end-effector called as inverse kinematics (IK), is one of the most important problems in robot kinematics and control. The difficulties in solving the IK equations of these redundant robot manipulator ar...