In this report, we present the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-efector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an itemtive pmedure employing Newton-Rap...

This paper introduced design analysis of a new 5DOF surgical robot used for minimally invasive surgery. The kinematics modeling is studied by solving the forward and inverse kinematics of the robot using the Denavit-Hartenberg convention and geometrical method. Robot kinematics simulation is built by creating the 3D CAD model of the robot and patient, then a kinematic motion simulation of a sur...

In this study, a method of artificial neural network applied for the solution of inverse kinematics of 2-link serial chain manipulator. The method is multilayer perceptrons neural network has applied. This unsupervised method learns the functional relationship between input (Cartesian) space and output (joint) space based on a localized adaptation of the mapping, by using the manipulator itself...

In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula. Position and orientation output error forward kinematics model was obtained by the differential transformation on the basis of inverse kinematic solution of the position. The ...

An abstract recurrent neural network trained by an unsupervised method is applied to the kinematic control of a robot arm. The network is a novel extension of the Neural Gas vector quantization method to local principal component analysis. It represents the manifold of the training data by a collection of local linear models. In the kinematic control task, the network learns the relationship be...

This paper presents a simulation framework for evolution on uneven terrains for a wheeled mobile robot such as a synchronous drive robot. The framework lends itself as a tool capable of solving various problems, such as forward kinematic based evolution, inverse kinematic based evolution, path planning and trajectory tracking. This framework becomes particularly useful when we understand that t...

This paper discusses the dynamics computation of closed kinematic chains, especially those found in motions of human gures. A number of e cient dynamics computation algorithms have been established in robotics for open kinematic chains and particular types of closed kinematic chains, such as parallel ve-bar link mechanisms and the Stewart platform. The dynamics computation of closed kinematic c...

In this paper, a general Stewart Platform Simulation tool (STEWSIM) is developed for robot designers and researchers. The STEWSIM uses an efficient connection matrix algorithm that has been developed for kinematic design of all possible types of general Stewart platforms (GSPs), such as 3× 3, 3× 4, 3× 5 . 6× 5 and 6× 6 with an arbitrary number of legs varying between three and six. This new int...

1 Copyright © 2008 by ASME 1. Address all correspondence to this author. ABSTRACT STriDER (Self-excited Tripedal Dynamic Experimental Robot) is a unique three-legged walking robot that utilizes its innovative tripedal gait to walk. Previous work on the kinematic analysis of STriDER mainly focused on solving the forward and inverse displacement problems. As a continuation, this paper addresses t...