The paper presents a single constraint equation of the direct kinematic solution of 6-dof (Stewart-Gough) platforms. Many research works have presented a single polynomial of the direct kinematics for several 6-dof platforms. However, the formulation of the polynomial has potential problems such as complicated formulation procedures and discrimination of the actual solution from all roots. This...

The solution of robot inverse kinematics has a direct impact on the control accuracy robot. Conventional methods, such as numerical solution, algebraic and geometric have insufficient speed accuracy, process is complicated. Due to mapping ability neural network, use networks solve problems attracted widespread attention. However, it slow convergence low accuracy. This paper proposes FOA optimiz...

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...

We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions.

The kinematic analyses, of manipulators and other robotic devices composed of mechanical links, usually depend on the solution of sets of nonlinear equations. There are a variety of both numerical and algebraic techniques available to solve such systems of equations and to give bounds on the number of solutions. These solution methods have also led to an understanding of how special choices of ...

In this paper, we introduce the concept of planar generalized Stewart platform (GSP) consisting of two rigid bodies connected with three constraints between three pairs of geometric primitives in the two rigid bodies respectively. This problem can be treated as a special but important class of geometric constraint solving problems. We show that there exist sixteen forms of planar GSPs. We also ...

Experimental measurements and analysis of the flight of bats are presented, including kinematic analysis of high-speed stereo videography of straight and turning flight, and measurements of the wake velocity field behind the bat. The kinematic data reveal that, at relatively slow flight speeds, wing motion is quite complex, including a sharp retraction of the wing during the upstroke and a broa...

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus...