This paper shows a new method for the hybrid position-force control of robots with compliance function on six axis of freedom degrees in system multi-microprocessor in order to obtain high performances. For this purpose kinematics and kinetostatics analysis are performed, and the mathematic model of the inverted kinematics is determined for controlling the main trajectory of the robot. Related ...

This paper presents a new approach to calculate the direct and inverse differential kinematics for serial manipulators. The approach is an extension of the Davies method for open kinematic chains based on a virtual kinematic chain concept introduced in this paper. It is a systematic method that unifies the kinematics of serial manipulators considering the type of kinematics and the coordinate s...

We present a neural network approach to learn inverse kinematics of the humanoid robot ASIMO, where we focus on bi-manual tool use. The learning copes with both the highly redundant inverse kinematics of ASIMO and the additional arbitrary constraint imposed by the tool that couples both hands. We show that this complex kinematics can be learned from few ground-truth examples using an efficient ...

One of the most important problems in robot kinematics and control is, finding the solution of Inverse Kinematics. Inverse kinematics computation has been one of the main problems in robotics research. As the Complexity of robot increases, obtaining the inverse kinematics is difficult and computationally expensive. Traditional methods such as geometric, iterative and algebraic are inadequate if...

This paper describes a new approach allowing the generation of a simplified Biped gait. This approach combines a classical dynamic modeling with an inverse kinematics’ solver based on particle swarm optimization, PSO. First, an inverted pendulum, IP, is used to obtain a simplified dynamic model of the robot and to compute the target position of a key point in biped locomotion, the Centre Of Mas...

Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientatio...

We study redundant robot kinematics around singular configurations of corank 1. Sufficient conditions are derived under which the kinematics become equivalent to a hyperbolic normal form. These conditions are specified further to non-redundant kinematics, and illustrated with examples of a double pendulum with links of equal length at the fully folded down configuration as well as of the PUMA m...

The real-time pose measurement of parallel robot helps to achieve the closed loop pose control and improve the control and operating performance of parallel robot. But it is difficult to implement the realtime pose measurement directly. In order to solve the pose measurement problem of a 6-DOF parallel robot, the kinematics analysis of the parallel robot is made, and a Generalized Regression Ne...

In this study, a Fractional-Order Sliding Mode Control scheme is proposed for trajectory tracking control of Delta parallel robot. The controller compared with both integer-order Proportional-Derivative and Controller Computed Torque method. forward kinematics, inverse kinematics dynamic robot are described. A Solidworks/Matlab/SimScape/Multibody model generated used parameter estimation valida...