Inverse kinematics computation using an artificial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, conventional learning methodologies do not p a y enough attention to the discontinuity of the inverse kinematics system of typical robot arms with joint limits. The inverse kinematics system of the robot arms, including a human arm w...

Inverse kinematics computation using an arti cial neural network that learns the inverse kinematics of a robot arm has been employed by many researchers. However, conventional learning methodologies do not pay enough attention to the discontinuity of the inverse kinematics system of typical robot arms with joint limits. The inverse kinematics system of the robot arms is a multi-valued and disco...

The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. Both forward and inverse kinematics solutions for the TR 4000 educational robot arm are presented. The closed form solution of the inverse kinematics problem is of utmost importance in controlling robotic manipulator. In this paper, a closed form solution to the inverse kinematics...

In this paper, the inverse kinematics solutions for 16 industrial 6-Degrees-of-Freedom (DOF) robot manipulators with offset wrists are solved analytically and numerically based on the existence of the closed form equations. A new numerical algorithm is proposed for the inverse kinematics of the robot manipulators that cannot be solved in closed form. In order to illustrate the performance of th...

In order to meet the sorting and packing needs of the drug and food industries, a novel parallel robot mechanism named 3-R2H2S is proposed in this study, the kinematics equation of the robot was deduced and the inverse kinematics was calculated. The workspace model of the robot is analyzed by the boundary search method through the MATLAB and ADAMS kinematics software. The analysis results show ...

ABSTRACT Formulating the suitable mathematical models and deriving the efficient algorithms for a robot kinematics mechanism are very crucial for analyzing the behavior of industrial robot manipulators. Direct kinematics that determines the Cartesian position and orientation of the end-effector for the specified values of joint parameters is generally performed using homogenous transforms. In t...

According to bionics and simplified octopus structure, this paper designed a universal mobile quadruped robot and adopted Denavit-Hartenberg system to analyze the single leg kinematics of a robot, obtaining its kinematics equation. Also, through the method of separating variables, this paper solved its inverse kinematics and got the joint angle. A walking gait is planned and the joint angle of ...

The TwinCAT Supplement ‘TwinCAT Kinematic Transformation’ is presented in this application example. This supplement makes it possible to compute robot kinematics together with the PLC and Motion Control on one PC-based CPU. Analogous to the TwinCAT Motion Control package (integration of the drive control in the controller), a robot kinematics is configured and parameterised with the ‘Kinematic ...

October December 2016 2677 JCPS Volume 9 Issue 4 Inverse Kinematics Solution of a Five Joint Robot Using NARX Algorithm I. Jacob Raglend, M. Dev Anand, G. Glan Devadhas, D. M. Mary Synthia Regis Prabha Department of Electrical and Electronics Engineering, Noorul Islam Centre for Higher Education, Kumaracoil 629 180, Thuckalay, Kanyakumari District, Tamilnadu State, India Department of Mechanica...