We introduce and demonstrate a bootstrap method for construction of an inverse function for the robot kinematic mapping using only sample configuration– space/workspace data. Unsupervised learning (clustering) techniques are used on pre–image neighborhoods in order to learn to partition the configuration space into subsets over which the kinematic mapping is invertible. Supervised learning is t...

The parallel robots seem to be one of the promising ways to improve accuracy and speed. At their development some new problems appear. This paper deals with design of direct kinematics for real-time path control of planar redundant parallel robots. The main reason for its using is a fact that the direct kinematics gives possibility to use Cartesian coordinates as against joint ones and by this ...

This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-offreedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical ...

In the industrial halls it is often necessary to handle large objects, with a and table, which have be transported not over long distances but moved from one place another, raised, then lowered various levels, left or right. Such repeated manipulations of heavy dangerous objects can done only help manipulator, crane, specially designed trolley, complicated robot simple manipulator as case for p...

In this paper, we introduce the generalized Stewart platform consisting of two rigid bodies connected with six distance and/or angular constraints between six pairs of points, lines and/or planes in the base and moving platform respectively, which could be considered as the most general form of parallel manipulators with six DOF in certain sense. We prove that there exist 3850 possible forms of...

Three types of double-triangular mechanism are introduced. These contain planar, spherical or spatial triangle pairs that move with respect to each other while remaining in line contact. Using planar, spherical and spatial trigonometry, the three pertinent direct kinematic problems are solved and typical numerical examples are presented.

This paper presents a numerical implementation of inverse and direct kinematics of a 3-DOF parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using Matlab. The robot has two degrees of orientation freedom and one degree of translatory freedom. The inverse kinematics was expressed in term of Z-Y-Z Euler angles and direct kinematics was solved numerically using Newton-Kantor...