Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The propo...

robot en tareas de seguimiento.

This paper concerns the forward kinematics and tension distribution of sinking winches mechanism, which is a type of four-cable-driven partly constrained parallel robot. Conventional studies on forward kinematics of cable-driven parallel robot assumed that all cables are taut. Actually, given the lengths of four cables, some cables may be slack when the platform is in static equilibrium. Theref...

In this article we will describe a general algorithm (of computational complexity O(n)) for computing a continuous inverse kinematics for a planar robot arm with n segments, IK : R+ → R, z 7→ [θn−1, θn−2, · · · , θ0]. The algorithm, in essence, is a recursive one, that decomposes the planar arm into sub-arms, and incrementally construct the inverse kinematics of the full arm. The proposed algor...

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...

The formulation and optimization of joint trajectories for a humanoid robot’s manipulator is quite different from standard robots’ because of the complexity of its kinematics and dynamics. This paper presents a formulation to solve kinematics problems to generate trajectory for a 21-DOF humanoid robot in the groping-locomotion method. The groping-locomotion method includes a basic autonomous in...

Citation: Moe S, Antonelli G, Teel AR, Pettersen KY and Schrimpf J (2016) Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results. Front. Robot. AI 3:16. doi: 10.3389/frobt.2016.00016 Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: Gener...

Serial robot arms have complicated kinematic equations which must be solved to write effective arm planning and control software (the Inverse Kinematics Problem). Existing software packages for inverse kinematics often rely on numerical methods which have significant shortcomings. Here we report a new symbolic inverse kinematics solver which overcomes the limitations of numerical methods, and t...

This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that the solution of the inverse kinematics in this framework relies on the intersection of geometric objects like lines, circles, planes and spheres, which provides the developer w...