The Kinematics of Manipulators Built From Closed Planar Mechanisms

Kinematics, Singularity and Dexterity Analysis of Planar Parallel Manipulators Based on DH Method

Parallel manipulators have separate serial kinematic chains that are linked to the ground and the moving platform at the same time. They have some potential advantages over serial robot manipulators such as high accuracy, greater load capacity, high mechanical rigidity, high velocity and acceleration (Kang et al., 2001; Kang & Mills, 2001). Planar Parallel Manipulators (PPMs), performing two tr...

Fourier Methods for Kinematic Synthesis of Coupled Serial Chain Mechanisms

Single degree-of-freedom coupled serial chain (SDCSC) mechanisms are a class of mechanisms that can be realized by coupling successive joint rotations of a serial chain linkage, by way of gears or cable-pulley drives. Such mechanisms combine the benefits of single degree-of-freedom design and control with the anthropomorphic workspace of serial chains. Our interest is in creating articulated ma...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

On-line Joint/Cartesian Optimal Control of Redundant Robot Manipulators Without Inverse Kinematics

This article presents a novel on-line optimal control for redundant robot manipulators for which inverse kinematics is not required. The controller considers a Cartesian PID control that yields stability of the closed loop, but presents poor performance unless using high gains. A joint space dynamic optimal control based on the gradient flow approach is introduced to improve the performance of ...

An Efficient Method for Solving the Direct Kinematics of Parallel Manipulators Following a Trajectory

This paper presents an efficient method for solving the direct kinematics of parallel manipulators that follow a defined singularity-free trajectory. Despite the main problem is to solve the inverse kinematics, calculating the errors between the desired path and the actual path requires solving the forward kinematics which is a challenging problem. The proposed method combines closed-loop Jacob...