This paper represents an analytical approach for solving forward kinematics problem of a serial robot manipulator with six degrees of freedom and a specific combination of joints and links to formulate the position of the gripper by a given set of joint angles. In addition, a direct geometrical solution for the robot’s inverse kinematics problem will be defined in order to calculate the robot’s...

Course Description Robotics addresses the problems of controlling and motivating mechanical devices to act intelligently in dynamic, unpredictable environments. Major topics will include: navigation and control, mapping and localization, robot perception using vision and sonar, kinematics and inverse kinematics, and robot simulation environments. To demonstrate these concepts we will be using m...

Achieving a low cost robotic arm is crucial in agricultural applications. Task based optimization of the robot kinematics influence the robot simplicity and cost. Nevertheless, the environment of the robot also has a major influence on its simplicity. We have simulated a variety of orchard architectures and searched for an optimal robot design for each architecture. From the training systems wh...

This paper deals with on-line motion imitation of a human being by a humanoid robot using inverse kinematics (IK). First, the human observed trajectories are scaled in order to match the robot geometric and kinematic description. Second, a task prioritization process is defined using both equality and minimized constraints in the robot IK model, with four tasks: balance management, end-effector...

In this paper, we purpose a new holonomic omni-directional mobile robot that can move on not only flat floors but also uneven environment. A prototype robot can move in omni-direction, run on the uneven floors and slopes, and pass over large steps. The robot has seven universal wheels that have twelve cylindrical free rollers. We adopt a passive suspension system that enable the robot to change...

This article presents the design of the base molecule for the RobMAT modular robot and the simulation tool MAVES (Modular Agents Virtual Environment Simulator). The base molecule is formed by 3 link atoms, 2-foot accessories and 2 joint atoms with 3 d.o.f. With the developed simulator, it is possible to analyse the kinematics morphology and dynamics behaviour of different configurations. MAVES ...

Course Description Robotics addresses the problems of controlling and motivating mechanical devices to act intelligently in dynamic, unpredictable environments. Major topics will include: navigation and control, mapping and localization, robot perception using vision and sonar, kinematics and inverse kinematics, and robot simulation environments. To demonstrate these concepts we will be using m...

This paper deals with kinematics, dynamics and power consumption analyses of a six-legged robot generating turning motions to follow a circular path. Direct and inverse kinematics analysis has been carried out for each leg in order to develop an overall kinematics model of the six-legged robot. It aims to estimate energyoptimal feet forces and joint torques of the sixlegged robot, which are nec...

Robotica / Volume 33 / Issue 04 / May 2015, pp 747 767 DOI: 10.1017/S0263574714000538, Published online: 13 March 2014 Link to this article: http://journals.cambridge.org/abstract_S0263574714000538 How to cite this article: Masayuki Shimizu (2015). Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specied unconstrained orientation of end-effector. Robotica, 33, pp ...

We introduce a compactification of the group rigid motions in 3-space derived from Study model for this group. use robot kinematics, by considering boundary configuration space robot. study particular degeneration direct kinematic problem some parallel robots with three degrees freedom.