This paper presents a horizontal rehabilitation robot based on parallel mechanism used after the femoral shaft fracture of hip. It can help patients to do passive exercises of hip. The system consist of three degrees of freedom actuated with linear actuators. The kinematics and dynamics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinema...

This paper presents a framework to use collision avoidance methods in the majority of existing mobile robots (that have any shape, and kinematic and dynamic constraints). The solution proposed is a vehicle abstraction layer based on transforming the space where these methods work, onto another one in which the constraints are implicitly represented. This space incorporates the vehicle kinematic...

This paper presents a neuro-fuzzy internal model Cartesian controller for robot manipulators. An inductive learning technique is applied to generate the required inverse dynamics and inverse kinematics modelling rules from input/output measurements. A fully differentiable fuzzy neural network is used to construct the adaptive sections of the controller for on-line parameters adaptation. A fuzzy...

This paper presents an elegant contact dynamics model in screw bondgraph form. It can model the contact between any two objects of finite curvature. It does so by defining a Gauss frame on the surfaces of both objects in the points that are closest to each other. Then it describes how the Gauss frames move as the objects move relative to each other. This is called the contact kinematics. The co...

This paper will describe the kinematics and dynamics of parallel robot named Delta with 3 degree of freedom (d.o.f). The use of dynamics coupled with kinematics for the control of parallel robot has been gaining increasing popularity in recent years. Relationship between generalized and articular velocities is established, hence jacobian and inverse jacobian analyses are determines. The inverse...

This paper is a review of different approaches and models underlying the voluntary control of human hand-arm movement. These models, dedicated to artificial movement simulation with application to motor control, robotics and computer animation, are categorized along at least three axis: Direct vs. Inverse models, Dynamics vs. Kinematics models, Global vs. Local models. We focus on sensory-motor...

This paper deals with the Path Following (PF) problem of a car. A unified kinematics model is derived for this problem. The mobile target configuration is represented by the motion of a reference car which has the same kinematics constrains as the real one. The generated kinematics model is added to the car dynamics one in order to obtain a general state representation for the PF problem. First...