Results 251 to 260 of about 4,625,554 (288)

On the Stability of the Quadruple Solutions of the Forward Kinematic Problem in Analytic Parallel Robots

Journal of Intelligent & Robotic Systems, 2016
Many parallel robots can change between different assembly modes (solutions of the forward kinematic problem) without crossing singularities, either by enclosing cusps or alpha-curves of the planar sections of their singularity loci. Both the cusps and the alpha-curves are stable singularities, which do not disappear under small perturbations of the ...
Adrián Peidró, Arturo Gil, José María Marín, Luis Payá, Óscar Reinoso   +4 more
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NN-based solution of forward kinematics of 3DOF parallel spherical manipulator

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
In this paper, neural networks are trained to compute the forward kinematics of spherical parallel manipulator (PM) for laparoscopic surgery application. Instead of solving a set of nonlinear equations for the forward kinematics, neural networks are used to map the input angles of revolute joints to the orientation of the manipulator. The training data
Temei Li, Qingguo Li, Shahram Payandeh
openaire   +2 more sources

Comments on "Closed form forward kinematics solution to a class of hexapod robots"

IEEE Transactions on Robotics and Automation, 1999
The paper above by Yang and Geng (1998) presents a class of parallel manipulators that has an efficient closed form solution to its forward kinematics. This Correspondence points to some missing insights in that paper (and in many others), especially with respect to singular configurations.
Herman Bruyninckx, Joris De Schutter
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Analytical Forward Kinematics for Two Kinds of Typical Tripods Part I: Closed-Form Solutions for Forward Kinematics Methods

2012
The articulated A/B-axis tool heads with parallel structure behave better than the traditional tool heads with serial structure in terms of saving machine processing time and reducing the deformation of the workpiece when they are used in thin wall machining applications for structural aluminium aerospace components.
Younan Xu, Xin-Jun Liu, Jinsong Wang
openaire   +2 more sources

The estimation for forward kinematic solution of Stewart platform using the neural network

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 2003
This paper introduces a kind of the forward kinematic analysis, which finds the 6-DOF motions from a given six cylinder lengths in the Stewart platform. In the case of a parallel manipulator, while the solution of the inverse kinematics can easily be found by the vectors of the links which are composed of the joint coordinates in base and plate frame ...
Lee Hyung Sang, Myung-Chul Han
openaire   +2 more sources

The Forward Solution of Kinematics About 5-DOF Dispensing Manipulator

Advanced Materials Research, 2012
The dispensing manipulator is one of the focus-researching projects at present,according to 5-DOF dispensing robot,firstly we completed designing the structure diagram of manipulator,and then used the mathematica calculation to finish the forward solution of kinematics about 5-DOF dispensing maniputor,which is derived the overall transformation matrix ...
Gong Chang Ren, Yong Fei Wang, Qing Ye, Bo Chen   +3 more
openaire   +1 more source

Kinematic Forward Solution Analysis of the 3-PRS Parallel Robot

Advanced Materials Research, 2012
It is always hot and difficult to research kinematic forward solutions of the Parallel robots .In the paper according to the trait of 3-PRS parallel robot, the three freedom degrees are analyzed by using helix theory, which include one prismatic freedom degree along z axis and two rotation freedom degrees along and axis.
Jun Jie Huang, Jian Li Kang, Jun Wei Zhao   +2 more
openaire   +1 more source

Forward kinematic solution and its applications for a 3-DOF parallel kinematic machine (PKM) with a passive link

Robotica, 2006
In this paper, a 3-DOF parallel kinematic machine (PKM) with a passive link is introduced. The forward kinemaic model is established, and a new technique is proposed to solve this model. The developed forward kinematic solver (FKS) is employed in two new applications: the determination of joint workspace and sensor-based real-time monitoring.
Zhu Ming Bi, Sherman Y. T. Lang
openaire   +1 more source

Closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2004
This paper present closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4. Many researchers have tried to obtain closed-form solutions of 3-and 6-DOFs parallel robots, i.e., planar, Delta, Stewart platform and Hexapod robots, in a single variable polynomial equation.
Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama   +2 more
openaire   +1 more source

A direct numerical solution to forward kinematics of general Stewart–Gough platforms

Robotica, 2006
This paper presents a simple numerical method for forward kinematics of general Stewart–Gough platforms, which can generate a unique solution directly. This method utilizes the trivial nature of the inverse kinematics of parallel manipulators, and derives a straightforward linear relationship between the small change in joint variables (leg lengths ...
openaire   +2 more sources