Due to the expensive nature of an industrial robot, not all universities are equipped with areal robots for students to operate. Learning robotics without accessing to an actual robotic system has proven to be difficult for undergraduate students. For instructors, it is also an obstacle to effectively teach fundamental robotic concepts. Virtual robot simulator has been explored by many research...

In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the develop...

In this paper a method for solving the inverse kinematics of an humanoid robot based on artificial neural networks is presented. The input of the network is the desired positions and orientations of one foot with respect to the other foot. The output is the joint coordinates that make it possible to reach the goal configuration of the robot leg. To get a good set of sample data to train the neu...

In this paper a simulink based approach is developed for trajectory tracking of robot manipulator. A robot manipulator is widely used in many industrial application. A robot manipulator moves the end effector to the configuration instructed by the user. The input from the main unit is transformed in to the desired configuration through forward kinematics. This configuration is sent to the robot...

The ROBOTLAB is a MATLAB based software package developed for robot simulation and analysis. MATLAB users can analyze and simulate any arbitrary serial link manipulator using ROBOTLAB by specifying robot kinematics, geometric and dynamic parameters. The package incorporates an extensive library of functions of transforrnations, kinematics, dynamics, control, trajectory and 3D animation of robot...

In the context of controlling a robot arm with multiple joints, the method of estimating the joint angles from the given end-effector coordinates is called inverse kinematics, which is a type of inverse problems. Network inversion has been proposed as a method for solving inverse problems by using a multilayer neural network. In this paper, network inversion is introduced as a method to solve t...

The area of inverse kinematics of robots, mainly manipulators, has been widely researched, and several solutions exist. The solutions provided by analytical methods are specific to a particular robot configuration and are not applicable to other robots. Apart from this drawback, legged robots are inherently redundant because they need to have real humanoid configurations. This degree of redunda...

Robotics addresses the problems of controlling and motivating mechanical devices to act intelligently in dynamic, unpredictable environments. Major topics will include: navigation and control, mapping and localization, robot perception using vision and sonar, kinematics and inverse kinematics, and robot simulation environments. To demonstrate these concepts we will be using medium sized mobile ...

The paper describes a walking robot leg modelling process. A six-legged walking robot — the so-called hexapod is concerned. Each leg consists of three links driven by Hitec HS475HB servo motors. The proposed model is used for testing leg kinematics and dynamics of the robot gait. One can examine a number of walking algorithms. The model includes: the identified description of the servo motors, ...

This paper presents a neuro-fuzzy internal model Cartesian controller for robot manipulators. An inductive learning technique is applied to generate the required inverse dynamics and inverse kinematics modelling rules from input/output measurements. A fully differentiable fuzzy neural network is used to construct the adaptive sections of the controller for on-line parameters adaptation. A fuzzy...