Related papers: Kinematic Synthesis of Parallel Manipulator via Ne…
Inverse Kinematics (IK) plays a critical role in robotic motion planning and control. The IK solutions of a robot manipulator could be done by conventional ways such as geometric, algebraic, or Jacobian methods, which have drawbacks. The…
Classical methods of solving spatiotemporal dynamical systems include statistical approaches such as autoregressive integrated moving average, which assume linear and stationary relationships between systems' previous outputs. Development…
Inverse Kinematics (IK) solves the problem of mapping from the Cartesian space to the joint configuration space of a robotic arm. It has a wide range of applications in areas such as computer graphics, protein structure prediction, and…
The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table.…
In a previous article we have shown how one can employ Artificial Neural Networks (ANNs) in order to solve non-homogeneous ordinary and partial differential equations. In the present work we consider the solution of eigenvalue problems for…
Inverse kinematics - finding joint poses that reach a given Cartesian-space end-effector pose - is a common operation in robotics, since goals and waypoints are typically defined in Cartesian space, but robots must be controlled in joint…
This paper shows how a Graph Neural Network (GNN) can be used to learn an Inverse Kinematics (IK) based on an automatically generated dataset. The generated Inverse Kinematics is generalized to a family of manipulators with the same Degree…
This paper presents analytical solvers for four common types of algebraic equations encountered in robot kinematics: single trigonometric equations, single-angle trigonometric systems, two-angle trigonometric systems, and bilinear two-angle…
Artificial Neural Networks (ANNs) have received increasing attention in recent years with applications that span a wide range of disciplines including vital domains such as medicine, network security and autonomous transportation. However,…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
The paper presents the electronic design and motion planning of a robot based on decision making regarding its straight motion and precise turn using Artificial Neural Network (ANN). The ANN helps in learning of robot so that it performs…
Mixed-signal artificial neural networks (ANNs) that employ analog matrix-multiplication accelerators can achieve higher speed and improved power efficiency. Though analog computing is known to be susceptible to noise and device…
Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for…
Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the…
A neural network system in an animal brain contains many modules and generates adaptive behavior by integrating the outputs from the modules. The mathematical modeling of such large systems to elucidate the mechanism of rapidly finding…
The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint-level controller that dispenses with differential equations…
Most chemical processes, such as distillation, absorption, extraction, and catalytic reactions, are extremely complex processes that are affected by multiple factors. The relationships between their input variables and output variables are…
Inverse problems are encountered in many domains of physics, with analytic continuation of the imaginary Green's function into the real frequency domain being a particularly important example. However, the analytic continuation problem is…