this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...

Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...

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...

Analyzing the inverse kinematics theory and its solution method for 5R series manipulator, introducing the establishment of link coordinate system and D_H parameters for 5R series manipulator, studying the algorithm of inverse kinematics solutions based on FPGA controller for 5R manipulator, the system constructs the SOPC system architecture that is based on the Nios II CPU, uses the C program ...

Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...

A novel n(4-SPS+SP) serial-parallel manipulator (S-PM) formed by n 4-SPS+SP PMs with four degrees of freedom (DOF) connected in series is proposed in this paper. The kinematics , statics and stiffness modeJ of this seriaJ-PM is established. First , the forward kinematics of 4-SPS十SP (spherical jo口比-prismatic joint-revoJute十spherical joint-prismatic joint) PM is d 由er引l口附飞 SPS+SP) S-PM i 比s s 民t...

This paper investigates the use of genetic algorithm to optimize poses selection to improve kinematic calibration for manipulator. Genetic algorithm is used to determine the optimal poses while iterative least square algorithm is used to calibrate the kinematics model of the manipulator. Observability index are used to evaluate the optimality of the set of poses. The fitness function of genetic...

The significant advantages of parallel robots over serial manipulators are now well known. However, they still pose a serious challenge when considering their kinematics. This paper covers the state-of-the-art on modeling issues and certified solving of kinematics problems. Parallel manipulator architectures can be divided into two categories: planar and spatial. Firstly, the typical planar par...

In this paper, the mathematical model of the posture inverse kinematics is established. According to the structure of 2DOF parallel manipulator, the simulation model of mechanism is built using the Matlab/SimMechanics. The kinematics simulation of the parallel manipulator is obtained and confirmed correct. With the Virtual Reality Toolbox, the virtual reality of the parallel manipulator is carr...