The premise of analyzing and researching robot technology is to establish a proper mathematical model then solve it with kinematics. In this study, self-developed humanoid hydraulically driven dual-arm taken as the research object, DH (Denavit–Hartenberg) parameter method rotational exponential formula (POE) are used kinematics robot. calculation results verified by simulation. advantages disad...

A robotic device is proposed by means of which the mastication process could be reproduced in a mechanically controllable way whilst the masticatory efficiency and/or food dynamics are assessed quantitatively. A robotic model of the mastication system is developed according to biomechanical findings about the jaw structure and muscles of mastication, where each of the major muscles are, tempora...

To meet the objectives of many future missions, robots will need to be adaptable and reconfigurable. A concept for such a robotic system has been proposed previously based on using a large number of simple binary actuators. Previous researchers have addressed some of the issues brought up by robots with a few binary actuators. This paper examines the computational feasibility of controlling and...

Abstract To address the issue of motion coordination in lower limb exoskeleton rehabilitation robots, and to meet basic characteristics ergonomics human kinematics, a humanoid design was adopted robot. The Denavit- Hartenberg (D-H) mathematical model robot established, each joint were analyzed obtain D-H parameters during process. from perspectives forward kinematics inverse kinematics. variati...

This paper deals with the design and analysis of a two-translation and one-rotation (2T1R) mechanism for a novel cooking robot. Firstly the motions involved in stir-fry, the most representative operation in the cooking processes used in Chinese cuisine, are analyzed in details. Then the featured motions are decomposed into four main movements that are used as a design base for a wok motion mech...

This paper proposes an analytical solution for a 5-DOF manipulator to follow a given trajectory while keeping the orientation of one axis in the end-effector frame. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analyzed systemically. The singular problem is discussed after the forward kinematics is provided. For any given reachable position and orientation of the end...

Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, the inverse kinematics system of typical robot arms with joint limits is a multi-valued and discontinuous function. Since it is difficult for a wellknown multi-layer neural network to approximate such a function, a correct inverse ki...

This paper presents some laboratory experiences carried out in our Robotics and AI courses. Using a configurable autonomous mobile robot platform, a wide variety of problems can be studied: from robot kinematics to learning architectures. A brief description of the robot platform is provided, together with some theoretical and practical aspects of each laboratory activity.