..., staggered, mortise-tenon flexible joint and an adsorption unit was proposed, and the kinematics model of the robot was established by Denavit-Hartenberg method to analyze the mapping relationship between its bending characteristic and structural parameters. Moreover, a robotic shape-sensing method based...

...Fei Qi; Yiwei Ge; Xianjun Liu Purpose This paper aims to present a kinematics performance analysis and control for a continuum robot based on a dynamic model to achieve control of the robot. Design/methodology/approach To analyze the motion characteristics of the robot, its kinematics model...

... outperforms comparable algorithms by several orders of magnitude in solving manipulator inverse kinematics, significantly enhancing planning efficiency and reducing trajectory planning time. Kinematics 3-5-3 Polynomials Sparrow search algorithm Time-optimal trajectory planning In the current era...

...Zhaoyang Chen; Kang Min; Xinyang Fan; Baoxu Tu; Fenglei Ni; Hong Liu Purpose This paper aims to propose a real-time evolutionary multi-objective semi-analytical inverse kinematics (IK) algorithm (EMSA-IK) for solving the multi-objective IK of redundant manipulators. Design/methodology/approach...

.... For example, in 1985, Khatib (1985) proposed the artificial potential field method, which is a classical algorithm for local planning obstacle avoidance of robotic arms and mobile robots. In 2002, Zlajpah and Nemec (2002) studied the kinematic control algorithm of online obstacle avoidance based...

... et al., 2018). Kinematics Soft actuator Soft robot Hybrid drive © Emerald Publishing Limited 2023 Emerald Publishing Limited Licensed re-use rights only To tackle these issues, we demonstrate a soft robot for complex environments. The content includes: carrying...

... of double spring can effectively reduce the number of spacers required. It can be helpful in smooth robot to outer world interaction without any kink. From the experiments, it has been found that the error of the kinematic model decreases as one moves from high radius of curvature to low radius of curvature...

...Fayong Guo; Hao Cai; Marco Ceccarelli; Tao Li; Butang Yao Purpose Robot kinematic modeling needs to be based on clear physical concepts. The widely used Denavit–Hartenberg (D–H) convention requires the coordinate system to be established on an extension of the axis. This leads to non-trivial...

..., in which the kinematic feasibility of parallel mechanism and terrain features are satisfied in heuristic search planning, and the other one is a whole-body controller to complete smooth and continuous motion transitions. Findings A fan-shaped foot search region focuses on footholds with a strong...

... The x, y and z coordinates of the end effector of the robot have been given as a reference. The x, y and z reference values are transformed as new reference values of the vertical movement of the robot on the endless screw by using the inverse kinematic equations of the robot. The control of the robot...

... of strain clamp for high voltage transmission line. Realizing bolt-nut capture and location by manipulator is a critical process to complete the whole working task. To solve such key technology, an autonomous location control method for N-joint robot manipulator based on kinematics was proposed. Design...

... topic to be handled, which is the robot kinematics, especially inverse kinematics. As modern robotic manipulators have several degrees of freedom, any required goal position has more than one solution. Thus, within our architecture, besides inverse kinematics, there is also an intelligent algorithm...

... for potential applications in the aviation industry. Design/methodology/approach Benefiting from a newly conceived dual continuum mechanism and the improved actuation scheme, this paper proposes a design of a slim and dexterous continuum manipulator. Kinematics modeling, simulation-based dimension synthesis...

... Keywords: Collision avoidance, Industrial robots, Kinematics, Multi-arms robot, Off-line programming, Path planning, Programming and algorithm theory, Robots http://www.emeraldinsight.com/10.1108/IR-01-2014-001 This article originally appeared in Volume 39 Number 6, 2012, pp. 580...

... process. Additionally, the high cost of robotic systems makes it difficult to financially justify the use of this technology. The purpose of this paper is to present a new design process that gathers conceptual, kinematic and dynamic design, finite elements method (FEM), functional design and virtual...

...Riaan Stopforth Purpose The purpose of this paper is to investigate the mechanical, kinematic and biological aspects that would be required for a customized upper limb exoskeleton prototype operation. Design/methodology/approach The research contained a literature survey, design, simulation...

... to be optimized. Francisco Rubio can be contacted at: frubio@mcm.upv.es © Emerald Group Publishing Limited 2012 Programming and algorithm theory Robots Kinematics Industrial robots Path planning Collision avoidance Off‐line programming Multi‐arms robot It is a fact that the number...

...Alfonso Hernández; Oscar Altuzarra; Oscar Salgado; Charles Pinto; Víctor Petuya Purpose The purpose of this paper is to present a step‐by‐step methodology for the design of parallel kinematic machines (PKMs), from the initial stages of the conceptual definition of a new machine to an optimum...

... of the research of the HUDEM project team and it is of value to engineers and researchers developing robotic systems for humanitarian demining purposes. Robots Explosives Control applications Submunitions Unexploded devices Humanitarian demining Walking robot Kinematics © Emerald Group...

... optimization model, based on the direct kinematic calibration approach, while the experimental data are collected from two sources. The first source is a measurement arm from FARO Technologies, and the second is a Mitutoyo coordinate measurement machine (CMM). The two sets of calibration results are compared...