Purpose Magnetic coupling is one of the few strategies to transmit motion through physical obstacles. This approach can be applied to remotely control and manipulate medical devices/robots inside the human body preventing the need for dedicated incisions [1, 2]. The most straightforward approach to take advantage of magnetic coupling to control a medical device inside the human body consists in...

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

A robotic manipulator operating within a confined space ideally positions its end-effector with minimal spatial displacement of each link. Achieving certain poses can require large overall the hardware. This work inves- tigates effect an additional degree freedom (DOF) at KUKA LBR iiwa14 arm by assessing occupied during 6 manipulation tasks and dexterity workspace.

We showed in a previous work that an artificial evolutionary system whose task was to track a light source was able not only to evolve and grow a neural network, but was also able to evolve learning mechanisms. The evolved neural network was then transferred to a robotic system consistent of a camera mounted on the gripper of a robot arm with results comparable to the ones achieved by the simul...

This paper describes integration and use of the OpenRAVE, ikfast module as an inverse kinematics solver for the Correll Lab Arm Manipulator (CLAM arm). It also explains the general working of the Robot Operating System (ROS) in the context of motion planning and control of robotic arms.

In this paper, we present optimal control for movement and trajectory planning of a various degrees-offreedom robots using fuzzy logic (FL) and genetic algorithms (GAs). We have evaluated and shown comparative analysis for three degree-of-freedom (3 DOF) and four degree-of-freedom (4 DOF) robotics arm to compensate the uncertainties like; Movement, friction and settling time in robotic arm move...

The purpose of the project is to build a robotic arm, which can be controlled remotely over the internet, and to perform operations exhibiting higher accuracy with 6 degrees of freedom. The robotic arm uses IP network to receive data/commands from the user, over the internet, which are interpreted into proper instructions and then relayed to the controller. It reduces the human effort when used...

The main problem in trajectory generation and tracking of robotic manipulators is to plan the trajectory and compute the required joint angles. Inverse kinematics modelling is usually adopted, though sometimes other approaches are needed due to the lack of reliability and accuracy of analytical methods. This paper presents a comparison between an analytical inverse kinematics based hybrid appro...