This paper investigates the use of genetic algorithm to optimize poses selection to improve kinematic calibration for manipulator. Genetic algorithm is used to determine the optimal poses while iterative least square algorithm is used to calibrate the kinematics model of the manipulator. Observability index are used to evaluate the optimality of the set of poses. The fitness function of genetic...

In this paper we develop a set of inverse kinematics algorithms suitable for an anthropomorphic arm or leg. We use a combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints. Our combination of analytical and numerical methods results in faster and more reliable algorithms than conventional inverse J...

According to the principle of transference, a compact three-dimensional representation of a rigid body kinematics is obtained by substituting dual for real numbers. This representation has recently been applied to robotics where in addition to its compactness, it allows to constitute the Jacobian matrix explicitly from the product of the dual transformation matrices with no additional computati...

The Jacobian matrix of a robot manipulator is central to the analysis, kinematics, dynamics, and control of robot manipulators. In many instances, the Jacobian and its inverse or pseudo-inverse are needed and utilized in the control equations of robot manipulators. In robotics, translations and rotations, transforms whose variables of motion, distance for translations, angles for rotations, com...

The kinematics of some mobile robots is described through a strictly invariant Jacobian matrix [ J]. This is the case for robots with three degrees of freedom and suitable omnidirectional wheels, and that for robots with conventional wheels and differential kinematics. This article proposes a calibration technique for the matrix [ J] of such robots. It is based on four accurate configuration me...

Paper presents a transputerised multi-microprocessor acquisition and processing system, which provides the implementation of the control algorithm in Carthesian coordinates of the position of contour path robots. This based on real-time digital processing of the Jacobian matrix obtained from direct kinematics model, respectively of the inverse Jacobian matrix for close loop control of the posit...

This chapter presents the study and modelling of KR 6 KUKA Robot, of the Robotics Laboratory, Federal University of Rio de Janeiro, see fig 1. The chapter shows the CAD model (Computer Aided Design), the direct kinematics, the inverse kinematics and the inverse dynamical model. The direct kinematic is based in the use of homogeneous matrix. The inverse kinematics uses the quadratic equations mo...

For redundant manipulators, the inverse kinematics equations are typically solved by taking the pseudoinverse of the Jacobian, or by adding enough constraints to algebraically remove the redundancy. Many popular measures of redundancy also depend on computing the algebraic rank or determinant of the Jacobian. We present fast, parallelizable algorithms to dynamically update all the pseudo-invers...

SUMMARY A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method. 1. INTRODUCTION The design of a redundant manipulat...