Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network ...

High precision position control and high speed control of the robot manipulators are fundamental and important control problems. The effectiveness of finite-time P-PI control was confirmed by end-effector position control of robot manipulators. However, parameter tuning method has not been proposed to finite-time P-PI control. In this paper, we propose a settling time design method and a parame...

Title Type control of flexible link manipulators using neural networks PDF control of flexible link manipulators using neural networks 1st edition PDF control of robot manipulators in joint space advanced textbooks in control and signal processing PDF constructive neural networks PDF digital neural networks PDF complex valued neural networks PDF control of redundant robot manipulators theory an...

This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. In order to increase the robustness of the control algorithm, image moments were chosen to be the visual features which describe the objects from the image. A visual predictive architecture is designed to solve tasks addressed to robot manipulators with an eye-in-hand...

In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the develop...

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a...

In this paper an analytic formulation of the statics and the instantaneous kinematics of robot manipulators based on the Grassmann-Cayley algebra is presented. The notions of twist, wrench, twist space and wrench space are mathematically represented by the concept of extensors of this algebra and the reciprocity relation between twist and wrench spaces of partially constrained rigid bodies is r...

The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used...

Over the past several years, there has been a rapidly expanding interest in the study and construction of a new class of robot manipulators which utilize high degree of freedom, or continuous, backbone structures. In this paper, we consider some basic properties of these "continuum'' or "hyperredundant'' robots. We base our analysis around remotely-driven, tendon-actuated manipulators such as t...