In this paper the direct kinematic model of a multiple applications three degrees of freedom industrial manipulator, was developed using the homogeneous transformation matrices and the Denavit Hartenberg parameters, likewise the inverse kinematic model was developed using the same method, verifying that in the workload border the inverse kinematic presents considerable errors, therefore a genet...

Abstract Forward and inverse kinematic analysis of 2DOF robot is presented to predict singular configurations. Cosine function is used for servo motor simulation of kinematics and dynamics using Pro/Engineer. The significance of joint-2 for reducing internal singularities is highlighted. Performance analysis in terms of condition number, local conditioning index and mobility index is carried ou...

5.1 ROOT MOTION .....................................................................................................................................................4 5.2 KINEMATIC CONSTRAINTS....................................................................................................................................5 5.3 MOTION CYCLIFICATION .................................................

Mobile manipulators are of high interest to industry because of the increased flexibility and effectiveness they offer. The combination and coordination of the mobility provided by a mobile platform and of the manipulation capabilities provided by a robot arm leads to complex analytical problems for research. These problems can be studied very well on the KUKA youBot, a mobile manipulator desig...

In this paper we present a new algehrwic analysis of the closure equation obtained for arbitrary single loop spatial kinematic chains, which allows us to design an eficient interval method for solving their inverse kinematics. The solution of a kinematic equation can be factored into a solution of both its rotational and its translational components. We have obtained general and simple expressi...

In this work, the dimensional synthesis of a spherical Parallel Manipulator (PM) with a 3PSU-IS kinematic chain is presented. The goal of the synthesis is to find a set of parameters that defines the PM with the best performance in terms of workspace capabilities, dexterity and isotropy. The PM is parametrized in terms of a reference element, and a non-directed search of these parameters is car...

Many small and large industries use robot arms to establish a range of tasks such as picking placing, painting in today’s world. However, complete these tasks, one the most critical problems is obtain desire position arm’s end-effector. There are two methods for analyzing arm: forward kinematic analysis inverse analysis. This study aims model an open-source 4 degrees freedom (DoF) articulated r...

The aims of this study were to explore the hydrodynamic mechanism of Xenopus laevis swimming and to describe how hind limb kinematics shift to control swimming performance. Kinematics of the joints, feet and body were obtained from high speed video of X. laevis frogs (N=4) during swimming over a range of speeds. A blade element approach was used to estimate thrust produced by both translational...

Both the forward and backward kinematics of the Gough-Stewart mechanism exhibit nonlinear behavior. It is critically important to take account of this nonlinearity in some applications such as path control in parallel kinematics machine tools. The nonlinearity of inverse kinematics is straightforward and has been first studied in this paper. However the nonlinearity of forward kinematics is mor...