The Experts below are selected from a list of 327 Experts worldwide ranked by ideXlab platform
Saeid Nahavandi - One of the best experts on this subject based on the ideXlab platform.
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analysis of the Inverse Kinematics Problem for 3 dof axis symmetric parallel manipulators with parasitic motion
International Conference on Robotics and Automation, 2014Co-Authors: Mats Isaksson, Anders Eriksson, Saeid NahavandiAbstract:Determining an analytical solution to the Inverse Kinematics Problem for a parallel manipulator is typically a straightforward Problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the Inverse Kinematics Problem can be significantly more difficult. This paper contains an analysis of the Inverse Kinematics Problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the Inverse Kinematics Problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.
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ICRA - Analysis of the Inverse Kinematics Problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014Co-Authors: Mats Isaksson, Anders Eriksson, Saeid NahavandiAbstract:Determining an analytical solution to the Inverse Kinematics Problem for a parallel manipulator is typically a straightforward Problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the Inverse Kinematics Problem can be significantly more difficult. This paper contains an analysis of the Inverse Kinematics Problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the Inverse Kinematics Problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.
Mats Isaksson - One of the best experts on this subject based on the ideXlab platform.
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analysis of the Inverse Kinematics Problem for 3 dof axis symmetric parallel manipulators with parasitic motion
International Conference on Robotics and Automation, 2014Co-Authors: Mats Isaksson, Anders Eriksson, Saeid NahavandiAbstract:Determining an analytical solution to the Inverse Kinematics Problem for a parallel manipulator is typically a straightforward Problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the Inverse Kinematics Problem can be significantly more difficult. This paper contains an analysis of the Inverse Kinematics Problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the Inverse Kinematics Problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.
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ICRA - Analysis of the Inverse Kinematics Problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014Co-Authors: Mats Isaksson, Anders Eriksson, Saeid NahavandiAbstract:Determining an analytical solution to the Inverse Kinematics Problem for a parallel manipulator is typically a straightforward Problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the Inverse Kinematics Problem can be significantly more difficult. This paper contains an analysis of the Inverse Kinematics Problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the Inverse Kinematics Problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.
Jun Wang - One of the best experts on this subject based on the ideXlab platform.
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A recurrent neural network for manipulator Inverse Kinematics computation
Proceedings of 1994 IEEE International Conference on Neural Networks (ICNN'94), 1994Co-Authors: Guang Wu, Jun WangAbstract:A recurrent neural network is presented for the computation of Inverse Kinematics for redundant robot manipulators. The proposed recurrent neural network is based on a reflexive generalized Inverse Problem that simplifies the computation of pseudoInverses by reducing the number of matrix equations needed to be solved and the complexity of the physical implementation. The proposed recurrent neural network is shown to be asymptotically stable and is used to solve the Inverse Kinematics Problem for a three degree-of-freedom planar redundant manipulator. >
Anders Eriksson - One of the best experts on this subject based on the ideXlab platform.
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analysis of the Inverse Kinematics Problem for 3 dof axis symmetric parallel manipulators with parasitic motion
International Conference on Robotics and Automation, 2014Co-Authors: Mats Isaksson, Anders Eriksson, Saeid NahavandiAbstract:Determining an analytical solution to the Inverse Kinematics Problem for a parallel manipulator is typically a straightforward Problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the Inverse Kinematics Problem can be significantly more difficult. This paper contains an analysis of the Inverse Kinematics Problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the Inverse Kinematics Problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.
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ICRA - Analysis of the Inverse Kinematics Problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion
2014 IEEE International Conference on Robotics and Automation (ICRA), 2014Co-Authors: Mats Isaksson, Anders Eriksson, Saeid NahavandiAbstract:Determining an analytical solution to the Inverse Kinematics Problem for a parallel manipulator is typically a straightforward Problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the Inverse Kinematics Problem can be significantly more difficult. This paper contains an analysis of the Inverse Kinematics Problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the Inverse Kinematics Problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.
Metin Toz - One of the best experts on this subject based on the ideXlab platform.
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chaos based vortex search algorithm for solving Inverse Kinematics Problem of serial robot manipulators with offset wrist
Applied Soft Computing, 2020Co-Authors: Metin TozAbstract:Abstract Vortex Search (VS) algorithm is a single-solution-based optimization algorithm that requires the high maximum number of iterations (NOI) to solve optimization Problems. In this study, two methods were proposed to reduce the required maximum NOI of the VS algorithm. These methods are based on using ten chaos maps with the VS algorithm and provide improvements in the exploration and exploitation abilities of the algorithm for reducing the required maximum NOI. Ten chaos-based VS algorithms (CVSs) were obtained by combining these methods with the VS algorithm. The performances of the CVS algorithms were tested by fifty benchmark functions. The results were evaluated in terms of some statistical values and a pairwise statistical test, Wilcoxon Signed-Rank Test. According to the results, it was found that the CVS algorithm obtained by using the Gauss–Mouse chaos map was the best algorithm. And also, it was shown that the proposed CVS algorithm performs better than the classical VS algorithm, even when its maximum NOI was ten times less than the maximum NOI of the VS algorithm. Additionally, the effects of the proposed methods in the exploration and the exploitation abilities of the VS algorithm were visually shown and a comparison about algorithm processing time was presented. In order to test the performance of the proposed CVS algorithm in solving the real-world optimization Problems, the Inverse Kinematics Problem of a six Degrees Of Freedom (DOF) serial robot manipulator with offset wrist was solved with both the proposed CVS algorithm and the VS algorithm for two different types of trajectories. The results showed that the proposed algorithm outperforms the VS algorithm in terms of the objective function values and position errors of the end-effector of the serial robot manipulator.
