Results 241 to 250 of about 4,625,554 (288)

Neural network solution for the forward kinematics problem of a Stewart platform

Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1992
A multiple neural network structure called cascaded CMAC (cerebella model arithmetic computer) is proposed to solve the forward kinematics problem of a (parallel link manipulator, called a Stewart platform. The cascaded CMAC networks can provide faster learning and the ability to capture both general trends and fine details of unknown nonlinear mapping.
Z. Geng, L. Haynes
openaire   +1 more source

Forward kinematics solution of Stewart platform using neural networks

Neurocomputing, 1997
Abstract The Stewart platform's unique structure presents an interesting problem in its forward kinematics (FK) solution. It involves the solving of a series of simultaneous non-linear equations and, usually, non-unique, multiple sets of solutions are obtained from one set of data.
Choon-seng Yee, Kah Bin Lim 0001
openaire   +2 more sources

Robust estimator design for forward kinematics solution of a Stewart platform

Journal of Robotic Systems, 1998
Summary: We propose a robust estimator design to solve the forward kinematics in 6 DOF motion bed (Stewart platform). The stability of the proposed estimator is proved via Lyapunov stability analysis, and the estimator guarantees practical stability.
Ji-Yoon Kang, Dong Hwan Kim, Kyo-Il Lee
openaire   +3 more sources

Closed form forward kinematics solution to a class of hexapod robots

IEEE Transactions on Robotics and Automation, 1998
We present a class of hexapod robots for which we are able to provide true closed-form (non-numerical) solutions. The class studied in the paper is close to being a general hexapod robot and its engineering implementation can be carried out without any problem. Our method has been implemented using Maple. The algorithm of our methods is very simple and
Jun Yang, Z. Jason Geng
openaire   +1 more source

The Forward Kinematics Solution of Track Irregularity Simulator

Advanced Materials Research, 2012
By means of the bionic optimization method PSO, the particle swarm displacement tracking model was established by this paper according to the displacement constraint conditions of the track irregularity simulator actuators, which took the difference between the given length of the forward kinematics solution and the inverse kinematics solution as the ...
Xiao Ning Cao, Yu Mei Liu, Zheng Jian Lai, Wen Cui Guo, Chao Sun   +4 more
exaly   +2 more sources

Workspace Analysis of Delta Robot Based on Forward Kinematics Solution

2019 3rd International Conference on Robotics and Automation Sciences (ICRAS), 2019
Through the position analysis of Delta robot mechanism, the forward kinematics solution of Delta robot is obtained by geometric method. Based on the forward kinematics solution, the workspace of Delta robot is analyzed, and the workspace of Delta robot is drawn by using the calculation and drawing function of MATLAB, which provides an important ...
Cheng Liu
exaly   +2 more sources

Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions

Proceedings. 1991 IEEE International Conference on Robotics and Automation, 1992
AbstractThis article studies the geometrical condition for closed‐form solutions of forward kinematics of parallel platforms. It is shown that closed‐form solutions are available if 1 rotational degree of freedom (dof) of the moving platform is decoupled from the other 5 dof. Geometrically, this condition is satisfied when five end‐points at the moving
Chang-De Zhang, Shin-Min Song
openaire   +2 more sources

Closed-Form Forward Kinematics Solutions of a 4-DOF Parallel Robot

International Journal of Control, Automation and Systems, 2009
It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4.
Atsushi Konno, Masaru Uchiyama, Hee-Byoung Choi   +2 more
exaly   +2 more sources

Algebraic solution to forward kinematics of a 3‐DOF spherical parallel manipulator

Journal of Robotic Systems, 2001
AbstractA three degree‐of‐freedom (3‐DOF) spherical parallel manipulator consists of two tetrahedrons (pyramids). The base tetrahedron is fixed while the moving tetrahedron is rotating at the joint apex of the two tetrahedrons. This article studies the forward kinematics to a special 3‐DOF spherical parallel manipulator, where the three apical angles ...
Ping Ji 0001, Hongtao Wu
openaire   +3 more sources

Forward Kinematics and Solution Methodologies for a Flexure-Based Micro-manipulator

2008
This paper presents the forward kinematics of a five-bar compliant micro-manipulator, where lever mechanisms are used to enlarge the working range in Cartesian space. Based on the configuration of the proposed flexure-based micro-manipulator, the entire system has been divided into a five-bar mechanism and two four-bar amplification mechanisms.
Yanling Tian, Bijan Shirinzadeh, Dawei Zhang 0001, Gürsel Alici   +3 more
openaire   +2 more sources