Visually-guided arm reaching movements are produced by distributed neural networks within parietal and frontal regions of the cerebral cortex. Experimental data indicate that (I) single neurons in these regions are broadly tuned to parameters of movement; (2) appropriate commands are elaborated by populations of neurons; (3) the coordinated action of neurons can be visualized using a neuronal p...

We report on the development of the modular neural system "SEEEAGLE" for the visual guidance of robot pick-and-place actions. Several neural networks are integrated to a single system that visually recognizes human hand pointing gestures from stereo pairs of color video images. The output of the hand recognition stage is processed by a set of color-sensitive neural networks to determine the car...

The kinematics of movement of all five digits was analyzed during reach-and-grasp tasks for a variety of objects. Ten healthy subjects performed 20 trials involving the grasp of five objects of distinct size and shape. Joint angles were recorded, and digit trajectories were computed using forward kinematics. For a given subject, fingertip trajectories were consistent across trials. The differen...

This paper presents a novel algorithm for industrial robot trajectory planning based on the NURBS(Non-Uniform Rational B-Spline) curve and Slerp interpolation aiming at problems that of six-axis is not smooth enough in operation process, posture process non-uniform, starts stops frequently. Firstly, first problem, NURBS presented to improve smoothness curve. Combined with quaternion description...

The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...

The subject of this paper is a special class of closedchain manipulators. First, we analyze a family of twodegree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the “inverse kinematics” and the “direct kinematics” matrices. It is shown that the loci of points of the wo...

In this paper, we propose several results about trajec-tory generation by visual servoing. The approach consists in deening a speciic task function which allows us to take into account the time varying aspect of the reference feature and we synthesize a control law in the sensor space. This control law ensures the trajectory control in the image space and reduces the tracking error. Under speci...

This paper presents a new approach to parallel path planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computa...

This paper presents a new approach to parallel path planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computa...