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In this paper, a radial basis function neural network was used to solve the robot arm with 4 DOF of a self-designed service robot. Firstly, the D-H model was established for the manipulator and the analysis of forward kinematics was carried out, and the transition relation between the connecting rod coordinates was obtained. Then, according to this relationship, the sample data from joint space to...
An improved method based on the D-H method is proposed for a 5-DOF manipulator with special structure which is difficult to establish joint transformation by using normal D-H method. The forward kinematics of this manipulator with special structure is established by adding virtual joint. The method is suitable for manipulators with rotating joints, and the coordinate transformation must be achieved...
The implementation of object 3D position has been greatly simplified by robot hand-eye vision positioning system which is based on the constant rotation matrix. The main idea is to simplify the complicated calibration procession of robot visual control system by maintaining the constant rotation matrix that maps hand coordinate to robot coordinate. Given the camera light axes being vertical with the...
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