Most researches so far on robot control have assumed that the exact kinematics and Jacobian matrix of the manipulator from joint space to Cartesian space are known. Unfortunately, no physical parameters could be derived exactly. In addition, the robot is required to interact with its environment and hence the overall parameters would change according to different tasks. In this paper, simple fe...

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. Te inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control also developed ...

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...

We consider the kinematics of a mobile manipulator that consists of a non-holonomic (or holonomic) mobile platform and a holonomic manipulator mounted atop of the platform. At any fixed time instant and with fixed initial state of the platform these kinematics are viewed as a map from a Hilbert space of controls and manipulator’s joint positions into a taskspace of the mobile manipulator, and c...

In this paper, kinematic modeling and singularity and stiffness analysis of a 3-d.o.f. redundant parallel manipulator have been elaborated in detail. It is known that, contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled non-linear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting...

Abstract: This paper describes a new 2DOF planar manipulator (PM) using coupled kinematics to manage the singularities. It is designed in order to overcome the singularity configuration of planar manipulators. Manipulators are composed of five rigid links, five revolute joints and two actuators each actuating two of input links coordinated fashion, what we term coupled kinematics. Coupled kinem...

This paper describes our experimental and analytical study of recovering index finger pose from tip trajectory during palmar grasp. Our study experimentally evaluates a kinematical model that can be used to reduce the number of surface markers in each finger for motion estimation and its segmental kinematics. We captured the trajectory of the index finger tip and joint angles in typical fist cl...

Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exists remarkable similarity in the fundamental simplified kinematic models that have been applied to continuum robots. However, this can easily be obscured, especially to a newcomer to the field, by the different applicati...

Kinematic redundancy of a pair of manipulator-task can be classified into intrinsic and functional redundancies. This paper compares two different approaches to solve the inverse kinematics of functionally-redundant serial manipulators. First, the augmented approach add a virtual joint to the manipulator in order to render the Jacobian matrice underdetermined and project a secondary task onto t...