This paper describes a new approach for approximating the inverse kinematics of a manipulator using a RBFN (Radial Basis Function Network). A training approach using the strict interpolation method and the LMS (Least Mean Square) algorithm is presented. The strict interpolation method with regularly spaced position training patterns in the workspace can produce an appropriate approximation of t...

The presented controller system has been designed and dedicated to the intuitive and instinctive cable driven robot manipulator. The described robot manipulator is the moving platform suspended by the set of six variable-length steel cables. In practice the construction is like a standard inverted Stewart platform the platform is able to move in all six degrees of freedom with respect to its ba...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

In this paper, we describe on our developed mobile robot with 6 crawlers Abstract. which can change its form. The robot has some features. It can move both of on flat ground and on rubble efficiently by changing the form of crawlers. The robot has a multi-sensor head on the top of a 5-degrees of freedom manipulator. It will be enable to detect the information of victim because the sensor head c...

This paper presents a virtual force based approach for real-time collision-free trajectory planning for manipulators. This approach defines a virtual attractive force to drive an end-effecter of a manipulator along a preplanned path and uses virtual repulsive force calculated based on 3-dimensional force field method (3D-F) to protect the whole robot arm. When all these external virtual forces ...

Work Partner robot is a combination of a hybrid locomotion robot platform, and a special two hand manipulator mounted over the platform. A rigid body simulation model has been build of this whole system to help in development process. The robot platform, called Hybtor, and the manipulator has to work in collaboration. Kinematic simulation model of the platform has been used for visual study of ...

This paper presents the link mass optimization of a serial robot manipulator based on minimum joint torque requirements that is primary concern in the industrial robot applications. The optimization of link mass globally minimizes joint torques weighted by inverse of inertia matrix. Genetic algorithm (GA) was used to optimize energy produced by robot manipulator. The influences of GA parameters...

CINEGEN is a Virtual Reality based system for the rapid design, prototyping and simulation of robot manipula-tors. With CINEGEN, users provide a text description of a manipulator and a numerical algorithm automatically computes the inverse kinematics. This algorithm is capable of handling serial, parallel and hybrid manipulator structures. Using CINEGEN, the user can directly interact with a gr...