This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...

In this paper, combined dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical links, all with revolute joints, and electrical actuators are considered and application of an adaptive robust control algorithm is proposed for trajectory tracking of the robot manipulator. Analysis of stability of the suggested scheme is presented in details. The ...

This paper presents a three degree-of-freedom (3DOF) closed-loop position and 2-DOF open-loop orientation control method for an untethered mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial robotic manipulator and a 3-DOF capsuleposition localization system. Using traditional methods known to roboticists, we study the kinematics of untethered ma...

For the present paper, we developed an output feedback chattering position regulator for n-degreesof-freedom (DOF) robot manipulators with elastic and frictional joints. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations and ex...

In this paper, the inverse kinematic control of a 6-DOF robot manipulator is achieved using visual motor coordination (VMC). Here the positional data is converted into image plane data of a pair of cameras. The Redundancy resolution is a prime goal for the robot manipulator with higher dimensional joint space than the task-space. In this work, we present five schemes for this redundancy resolut...

(FFNN) is used to compensate for the robot dynamics. The FFNN computes the required torques to drive the robot manipulator to achieve desired tracking. The stability of combined PI kinematic and FFNN computed torque is proved by Lyapunov theory. Simulation results are carried out for 3 DOF articulated robot manipulator to evaluate the controller performance.

Abstract In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of are confirmed by D-H method, kinematics model established. position direction end deduced using homogeneous transformation method. Monte Carlo method used solve workspace manipulator, MATLAB draw cloud map. Set motion trajectory space planning, throug...

This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-dist...

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...

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...