Purpose: This study tries to develop a simulation model of six degree freedom for Faraman AM1 welding robot using CATIA V5 and compares with the computed kinematic model for robotic welding. The error varification of simulated model and kinematics of the robot is also being carried out. Design/methodology/approach: CATIA (Computer Aided Three dimensional Interactive Application) is a multi-plat...

This work explores the use of the Vocal Joystick (VJ) for robotic limb control using a simulated environment. We demonstrate that continuous vocal control is suitable for realtime manipulation of a 3 joint robotic limb in 2-D. We explore several kinematic models by which joint angles are specified, introducing a hybrid system combining forward and inverse kinematic models. Beyond demonstrating ...

Based on computational principles, the concept of an internal model for adaptive control has been divided into a forward and an inverse model. However, there is as yet little evidence that learning control by the eNS is through adaptation of one or the other. Here we examine two adaptive control architectures, one based only on the inverse model and other based on a combination of forward and i...

Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value betwe...

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...

We present a novel algorithm to estimate robot kinematic manifolds incrementally. We relate manifold learning with the forward and inverse kinematic of robots. The learned structure encodes this functions and so it is possible to recover them from the manifold. Our algorithm works without any knowledge of the robot kinematics and can potentially work in highly-dimensional spaces. We present som...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...

This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton. Keywords—Dynamic Analysis...