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 work deals with a sawing task performed by two cooperating arms. For the sawing task to follow a line in a horizontal plane, three directional motions have to be controlled (i. e., two translational motions and one rotational motion). A [so, a certain level of force has to be controlled toward the vertical direction not to loose the contact with the object to be sawn. The two-arm system un...

Hybrid pediatric cardiac surgery is an emerging field that combines skills and techniques used by pediatric cardiac surgeons and interventional pediatric cardiologists. This article describes the emerging indications and techniques in hybrid pediatric cardiac surgery and discusses potential future applications. It focuses on peratrial and perventricular septal defect closure, intraoperative ste...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

In this paper, we propose an HMMZMLP hybrid scheme for achieving high discrimination in speech recognition. Io the conventional hybrid approaches, an MLP is trained as a distribution estimator or as a VQ labeler, and the HMMs pegonn recognition using the output of the MLP, In the proposed method, to the contrary, HMMs generate a new feature vector of a fixed dimension by concatenating their sta...