Inverse Kinematics and Inverse Dynamics of a Flexible Manipulator.

Forward and inverse kinematics of a hybrid series-parallel manipulator

In this paper, the forward and inverse kinematic relations of a hybrid 6-DOF robotic manipulator, named the H6AR, are presented. The H6AR consists of twin 2-DOF anthropomorphic arms that can move in the vertical plane. These arms are connected, at one end, to a 1-DOF waist and constrained, at the other end, by a novel wrist assembly. The wrist contains an actuator only for the pitching motion a...

Inverse Kinematics Solution and Verification of 4- DOF Hydraulic Manipulator

A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics

“!Iyper-reduiidaiiI” robots have a very large or anfinile degree of k inemat ic redundancy. Thas paper zntrodaces a n e w generalized resolved rate technique for soli) I 11 g h ype rredun da n t m a n apulat or inverse kzne m a t i c ~ i i s i i r y a ‘backbone curve. ’ Thas method as applicahlr e v e n zn cases w h e n explzczt representataon of the hrickbone curve intransac geometry cannot be...

Inverse Dynamics of Flexible Manipulators

High performance robot manipulators, in terms of cycle time and accuracy, require well designed control methods, based on accurate dynamic models. Robot manipulators are traditionally described by the flexible joint model or the flexible link model. These models only consider elasticity in the rotational direction. When these models are used for control or simulation, the accuracy can be limite...

Recursive Kinematics and Inverse Dynamics for a Planar 3R Parallel Manipulator

We focus on the development of modular and recursive formulations for the inverse dynamics of parallel architecture manipulators in this paper. The modular formulation of mathematical models is attractive especially when existing sub-models may be assembled to create different topologies, e.g., cooperative robotic systems. Recursive algorithms are desirable from the viewpoint of simplicity and ...