This paper presents an original use of Evolutionary Algorithms in order to approximate by a closed form the inverse kinematic model (IKM) of analytical, nonanalytical and general (i.e. with an arbitrary geometry) manipulators. The objective is to provide a fast and general solution to the inverse kinematic problem when it is extensively evaluated as in design processes of manipulators. A mathem...

Cuspidal robots can travel from one inverse kinematic solution (IKS) to another without meeting a singularity. This property be analyzed by understanding the model (IKM) as well singularities in joint space and workspace. In this article, we revisit geometrical interpretation of IKM with conics. The conditions getting different conics their implication on are discussed observations regarding na...

Abstract— An educational platform is presented here for the beginner students in the Simulation and Artificial Intelligence sciences. It provides with a start point of building and simulation of the manipulators, especially of 2R planar Robot. It also displays a method to replace the inverse kinematic model (IKM) of the Robot with a simpler one, by using a Multi-Layer Perceptron Neural Network ...

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...

The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presen...

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...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

This chapter explores the factors limiting organizational information and knowledge management (IKM) through the perceptions of IKM practitioners. The authors propose that a number of organisational factors – which for them are enablers – have the ability to influence IKM project outcomes. It follows that explication of these enablers in an integrated framework could, therefore, be beneficial f...

Time plays a crucial role in describing dynamic domain and resources on the Web. Most of current ontology languages, without notion of time or change, can only describe domain knowledge in a static sense. In order to bring structure to time-varying information, we propose an interval-based knowledge model (IKM), which is composed of a temporal knowledge schema, temporal integrity constraints an...