This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse kinematics uses the quadratic equations mo...

Abstract: This paper describes a new 2DOF planar manipulator (PM) using coupled kinematics to manage the singularities. It is designed in order to overcome the singularity configuration of planar manipulators. Manipulators are composed of five rigid links, five revolute joints and two actuators each actuating two of input links coordinated fashion, what we term coupled kinematics. Coupled kinem...

We introduce and demonstrate a bootstrap method for construction of an inverse function for the robot kinematic mapping using only sample configuration– space/workspace data. Unsupervised learning (clustering) techniques are used on pre–image neighborhoods in order to learn to partition the configuration space into subsets over which the kinematic mapping is invertible. Supervised learning is t...

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. The notion of aspect introduced for serial manipulators in [1], and redefined for parallel manipula...

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. The notion of aspect introduced for serial manipulators in [1], and redefined for parallel manipula...

Real-time control of the endeffector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates inverse kinematics learning for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies. Our learning approach is based on the key observations t...

Robots promise to enhance minimally-invasive surgery, but flexion of the thin instrument shaft introduces error into models of the robot kinematics. Visual or electromagnetic tracking of the instrument tip provides correct forward kinematics, but uncertainty in shaft bending and port location leaves residual errors in inverse kinematics. These errors can cause incorrect motions that preclude th...

This paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms. The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism. The estimation of the kinematic parameters is performed using the inverse calibration method. The identification poses are selected optimizing the observab...