In this paper, a trajectory planning method of a mobile manipulator is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesi...

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...

Neural networks are applied to the system identification problems using adaptive algorithms for either parameter or functional estimation of dynamic systems. In this paper the neural networks' sensitivity to input values and connections' weights, is studied. The Reduction-Sigmoid-Amplification (RSA) neurons are introduced and four different models of neural network architecture are proposed and...

(FFNN) is used to compensate for the robot dynamics. The FFNN computes the required torques to drive the robot manipulator to achieve desired tracking. The stability of combined PI kinematic and FFNN computed torque is proved by Lyapunov theory. Simulation results are carried out for 3 DOF articulated robot manipulator to evaluate the controller performance.

This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-time locallycontrollableon an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However, some paths are “preferred” by the dynamics of the manipulator in that...

With the recent technological advancement in submersible systems, the research and development of underwater manipulator robot is highly desirable. This paper focuses on comparing simulation versus real-time manipulator dynamics control, and comparison of intelligent underwater manipulator-robot for effective Ocean-based research, industrial and defense applications. Software package such as MA...

The continuous path of a manipulator is often discretized into series independent action poses during tracking, and the inverse kinematic solution manipulator’s computationally challenging yields inconsistent results. This research suggests manipulator-route-tracking method employing deep-reinforcement-learning techniques to deal with this problem. paper takes an end-to-end-learning approach fo...

Abstract In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of are confirmed by D-H method, kinematics model established. position direction end deduced using homogeneous transformation method. Monte Carlo method used solve workspace manipulator, MATLAB draw cloud map. Set motion trajectory space planning, throug...

Abstracz This paper addresses the modeling and control of a compliant micromanipulator for use in such$elh as microsurgery, telesurgery, and microassembly, The unique flexure-based manipulator utilizes revolute flexure joints in achieving well-behaved kinematic characteristics, without the backlash and stick-slip phenomena that would otherwise impede precision control. A mathematical model of t...