In the presented work model and experiments of compliant robots with piezo actuators are carried out. The robot is designed to perform automatic injection of cells in the range of 10-30 μm. A kinematics model of serial-parallel structures is presented. Pseudo rigid body approach is used, where the elastic joints are modelled as revolute joints. Models for tension of parallel structures with ela...

This paper is devoted to the application of Artificial Neural Networks (ANN) to the solution of the Inverse Kinematics (IK) problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK solution. Given the desired trajectory of the end effector of the manipulator...

This paper presents the link mass optimization of a serial robot manipulator based on minimum joint torque requirements that is primary concern in the industrial robot applications. The optimization of link mass globally minimizes joint torques weighted by inverse of inertia matrix. Genetic algorithm (GA) was used to optimize energy produced by robot manipulator. The influences of GA parameters...

The UDUT – U and D are respectively the upper triangular and diagonal matrices – decomposition of the generalized inertia matrix of an n-link serial manipulator, introduced elsewhere, is used here for the simulation of industrial manipulators which are mainly of serial type. The decomposition is based on the application of the Gaussian elimination rules to the recursive expressions of the eleme...

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...

In this paper we present a new, and extremely fast, algorithm for the inverse kinematics of discretely actuated manipulator arms with many degrees of freedom. Our only assumption is that the arm is macroscopicallyserial in structure,meaning that the overall structure is a serial cascade of units with each unit having either a serial or parallel kinematic structure. Our algorithm builds on previ...

This paper presents a simple procedure that can be used to determine the stiffness matrix of 6R serial manipulator in selected points of the work space with joint stiffness coefficients taking into account. Elastokinematical model for the robot manipulator FANUC S-420F was considered as spatial and serial kinematical chain composed of six rigid links, connected by ideal revolute joint (without ...

Previous work on controllability of underactuated serial horizontal planar manipulators mostly focused only a specific number links, whereas this paper considers general N-link case. The main contribution is accessibility and small-time local (STLC) results for serial, horizontal, with one unactuated joint. An (N≥3) manipulator the first joint actuated STLC subset equilibrium points based Sussm...

It is shown that smooth spatial paths for non-redundant serial robots can always be smoothly reparameterized in the vicinity of kinematic singularities with finite root multiplicity using a Puiseux series (i.e., fractional power series). This reparameterization, based on the algebraic structure of the manipulator kinematics, is formed using the -th root of the distance of the path parameter to ...

In this paper, a systematic methodology to calculate the end-effector position and orientation errors of a robotic manipulator is presented. The method treats the physical error sources in a unified manner during the system’s design so that the effect they have on the end-effector positioning accuracy can be compared and the dominant sources identified. Based on this methodology, a computer pro...