Wrist-Partitioned, Inverse Kinematic Accelerations and Manipulator Dynamics

Wrist-partitioned inverse kinematic accelerations and manipulator dynamics

Inverse Kinematic Solution of Robot Manipulator Using Hybrid Neural Network

Inverse kinematics of robot manipulator is to determine the joint variables for a given Cartesian position and orientation of an end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Although artificial neural network (ANN) can be gainfully used to yield the desired results but the gra...

Learning Inverse Dynamics for Robot Manipulator Control

Model-based control strategies for robot manipulators can present numerous performance advantages when an accurate model of the system dynamics is available. In practice, obtaining such a model is a challenging task which involves modeling such physical processes as friction, which may not be well understood and difficult to model. Furthermore, uncertainties in the physical parameters of a syst...

On Precision Kinematic Accelerations for Airborne Gravimetry

Advances in accelerometer technology promisemany orders ofmagnitude improvement in sensitivity; which, consequently, also suggest progress in Earth Science applications, such as through new airborne gravimetric systems. However, a new capability for one sensor then usually demands commensurate requirements from auxiliary sensors in order to realize its full potential. Specifically, airborne gra...

Inverse Dynamics of the Agile Wrist Spherical Parallel Robot

Some iterative matrix relations for the kinematics and dynamics of a spherical Agile Wrist parallel robot are established. The manipulator prototype is a three-degree-offreedom mechanical system with three parallel legs. Controlled by concurrent torques, which are generated by some electric motors, three active elements of the robot have three independent rotations. Supposing that the position ...