Inverse kinematics of robots is a critical topic in the robotics field. Although there are conventional ways solving inverse kinematics, soft computing an important technology that has lately gained prominence due to its ability reduce complexity problem. This paper presents solution using multiple adaptive neuro-fuzzy inference systems (MANFIS). Different models were established by employing v...

The Free Body Diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the diiculties in dynamic modeling of legged robots. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram method is used to obtain the dynamic model. S...

In this paper, a novel nanoscale protein based nano actuator concept is described. Molecular kinematic computational tools are developed and included in our Matlab Biokinematics Toolbox to study the protein nanomotor’s performance using geometric criteria. The computational tools include the development of the molecular motor direct and inverse kinematics using the protein’s Denavit and Hartenb...

The Free Body Diagram method, based on the dynamic equations of isolated rigid bodies, is used to overcome the di culties in dynamic modeling of legged robots. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram method is used to obtain the dynamic model. S...

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The classification criteria are based on the topology of the workspace. Each group is evaluated according to interesting kinematic properties such as the size of the...

Jeffreys’ prior, one of the widely used noninformative priors, remains invariant under reparameterization, but does not perform satisfactorily in the presence of nuisance parameters. To overcome this deficiency, recently various noninformative priors have been proposed in the literature. Ž . This article explores the invariance or lack thereof of some of these noninformative priors including th...

The joint asymptotic distributions of the marginal quantiles and quantile functions in samples from a p-variate population are derived. Of particular interest is the joint asymptotic distribution of the marginal sample medians, on the basis of which tests of significance for population medians are developed. Methods of estimating unknown nuisance parameters are discussed. The approach is comple...

* Corresponding Authors ABSTRACT This paper studies the geometric design of spatial open loop prismatic-revolute-revolute (PRR) robot manipulators. Four spatial positions and orientations are defined and the dimensions of the geometric parameters of the PRR manipulator are computed so that the manipulator will be able to place its end-effector at these four pre-specified locations. Denavit and ...

To investigate the parameters of the protein design problem that we are exploring in collaboration with biochemists, we have developed a tool that uses inverse kinematics to support moving small fragments of protein backbone, while respecting biochemists’ desires to “remain in favorable regions of the Ramachandran plot” and “preserve ideal geometry”. By presenting estimates of derivatives in re...