Nonlinear and configuration-dependent five-axis kinematics make contouring errors difficult to estimate and control in real time. This paper proposes a generalized method for the on-line estimation and control of five-axis contouring errors. First, a generalized Jacobian function is derived based on screw theory in order to synchronize the motions of linear and rotary drives. The contouring err...

Abstract Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms, and generalized method concise transfer matrix obtained. In this study, first, according serial basic principles Lie groups algebras briefly explained in dealing with spatial switching differential operations screw vectors. Then, based standard ideas operations, for parallel mechan...

In order to continuously map desired tool center point TCP movements onto the corre sponding set of joint angles for a DOF robot arm without the need for repeated calculation of the inverse Jacobian we present an adaptive neural network with the following features topographical encoding of the input for smooth interpolation and fast adaptation error driven node allocation for e cent representat...

This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis robot is presented. Second, objective function formulated forward equations. The does not require using any Jacobian matrix nor its estimation; for this reason, proposed suffer from singularities, which common problem with convent...

In this paper, a general Stewart Platform Simulation tool (STEWSIM) is developed for robot designers and researchers. The STEWSIM uses an efficient connection matrix algorithm that has been developed for kinematic design of all possible types of general Stewart platforms (GSPs), such as 3× 3, 3× 4, 3× 5 . 6× 5 and 6× 6 with an arbitrary number of legs varying between three and six. This new int...

This paper deals with the Efficient Second orderMinimization (ESM) and the image-based visual servoing schemes. In other words, it deals with the minimization based on the pseudo-inverse of the mean of the Jacobians or on the mean of Jacobian Pseudo-inverses. Chronologically, it has been noticed in Tahri and Chaumette (2003) [22] thatESM generally improves the systembehaviorwhen comparedwith th...

In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators' driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, fl...

In this paper a step toward making a toolbox for industrial robot modelling based on the computer algebra tool Maple is taken. It can be seen as a modelling platform for efficient derivation of the necessary equations for doing, e.g., sensor fusion or state estimation by an Extended Kalman Filter (EKF) algorithm. Forward kinematics is studied and the position and orientation of the robot tool a...

Designing a robot manipulator with fewer actuators than the dimension of its configuration space —to reduce bulk, weight and cost— becomes feasible by introducing mechanical elements that lead to non-holonomic constraints. Unfortunately, the mechanical advantages of these non-holonomic designs are usually darkened by the complexity of their control. This paper deals with motion planning for par...

In multibody mechanics, the motion analysis for a platform (the kinematics problem) can be classified into two cases: the forward kinematics and the inverse kinematics problems. For the forward kinematics problem, the trajectory of a point on a mechanism (for example, the end effector of a robot arm or the center of a platform support by a parallel link manipulator) is computed as a function of...