We present a method for wheeled mobile robot navigation based on the proportional navigation law. This method integrates the robot’s kinematics equations and geometric rules. According to the control strategy, the robot’s angular velocity is proportional to the rate of turn of the angle of the line of sight that joins the robot and the goal. We derive a relative kinematics system which models t...

This paper presents a horizontal rehabilitation robot based on parallel mechanism used after the femoral shaft fracture of hip. It can help patients to do passive exercises of hip. The system consist of three degrees of freedom actuated with linear actuators. The kinematics and dynamics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinema...

Obtaining the joint variables that result in a desired position of the robot end-effector called as inverse kinematics is one of the most important problems in robot kinematics and control. As the complexity of robot increases, obtaining the inverse kinematics solution requires the solution of non linear equations having transcendental functions are difficult and computationally expensive. In t...

Articulated robots with multiple degrees of freedom, such as humanoid robots, have become popular research platforms in robotics and artificial intelligence. Such robots can perform complex motions, including the balancing, walking, and kicking skills required in the RoboCup robot soccer competition. The design of complex dynamic motions is achievable only through the use of robot kinematics, w...

In the literature we find a variety of mathematical approaches for solving problems in robotics which we will review now briefly. Denavit and Hartenberg [60] introduced the mostly used kinematic notation for lower pair mechanisms based on matrix algebra, Walker [243] used the epsilon algebra for the treatment of the manipulator kinematics, Gu and Luh [99] utilized dual– matrices for computing t...

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...

Two inverse kinematics algorithms were implemented in a tele-operated robot system and evaluated with a user performance study. The kinematics algorithms were designed such that the point of resolution (POR) of the robot arm's wrist and the end-effector was controlled by joysticks, one each for rotation and translation. Operator performance was evaluated with "peg-in-the-hole" type tasks using ...