In this paper, a simple and convenient method – Recursive Matrix method – is proposed for kinematic and dynamic analysis of all types of complex manipulators. After addressing the principle of the method, an example – a 3-DOF parallel manipulator with prismatic actuators – is demonstrated for the efficiency of the method in solving kinematic and dynamic problems of complex manipulators. With th...

Model based technologies form the core of advanced robotic applications such as model predictive control and feedback linearization. More sophisticated models result in higher quality but the use in embedded real-time control systems imposes strict requirements on timing, memory allocation, and robustness. To satisfy these constraints, the model implementation is often optimized by manual codin...

A number of internal model concepts are now widespread in neuroscience and cognitive science. These concepts are supported by behavioral, neurophysiological, and imaging data; furthermore, these models have had their structures and functions revealed by such data. In particular, a specific theory on inverse dynamics model learning is directly supported by unit recordings from cerebellar Purkinj...

We llavc introduced a methodology for the kinematic modeling of wheeled mobile robots'-2. In this paper, we appiy ollr ~nrt~lloclology to lJranr~s~, a11 oIrlllitlirc!rtioIl;11 whcdrd mobile robot which is being developed in the Robotics Institute of Carnegic Mcllon University. We assign coordinate systems to sprcify tho trnrlsforrllat,iorl rnat,ric:c:s ; m t f writ,(! t h o kinonlatic cquations...

In previous work, we calculated overapproximative sets of human arm positions using a kinematic parameterisation of the human arm, for use in a formally-verifying robot trajectory planner. This has the drawback that inverse kinematics calculations are computationally expensive. In this technical report, we present another method, not requiring inverse kinematics but using the maximum Cartesian ...

Abstract. This paper presents a proposal for a new extended Jacobian method based on kinematic constraints, exploring only singularities of the kinematic chain. It is presented the development of the new extended Jacobian as well as their properties. These method can be applied to analyze the behavior of redundant robots on perfoming a task. Redundant robots are used to perform tasks which requ...

This paper presents an original use of Evolutionary Algorithms in order to approximate by a closed form the inverse kinematic model (IKM) of analytical, nonanalytical and general (i.e. with an arbitrary geometry) manipulators. The objective is to provide a fast and general solution to the inverse kinematic problem when it is extensively evaluated as in design processes of manipulators. A mathem...

In this paper we describe a general procedure to solve the posi-tional inverse kinematics problem using an interval method. The classical interval Newton method is used together with speciic developed interval cuts over the closure equations. The algorithm uses a basic branch-and-bound procedure to obtain all solutions of the inverse positional problem of arbitrary single-loop kinematic chains....