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The inverse kinematics solution of the Six-DOF Serial Robots is a highly complex nonlinear problem, and the existence of the solution is not unique, therefore, the inverse kinematics method has attracted extensive attention. In this paper, BP neural network is applied to the inverse kinematics of Six-DOF Serial Robots, and the process of inverse solution is transformed into training of network weights...
Calculation of 6R serial manipulator's inverse kinematics is a highly complex nonlinear mapping problem. As the process of 6R serial manipulator's inverse kinematics calculating concerned, these traditional algorithms, like inverse transformation, geometry, pieper solution, etc., are very complex, and they often involve in the problem of multiple solutions and singularity. So, the calculation efficiency...
A method based on double quaternion theory to solve the inverse kinematics of a 6R robot is addressed in this paper. The kinematics model of a general 6R serial robot is firstly established with double quaternion equations. Then, a 16th order polynomial equation is obtained via linear and resultant elimination. Finally, the inverse posture of the 6R robot is achieved with the solution of the equation...
Nanomanipulation inside a scanning electron microscope (SEM) has been employed to maneuver and characterize nanomaterials. Despite recent efforts toward automated nanomanipulation, it is still largely conducted manually. In this paper, we demonstrate automated nanomanipulation inside an SEM for a well-structured nanomanipulation task via visual servo control and a vision-based contact detection method...
The condition number of a mechanism's Jacobian matrix can be considered as an indicator of its dexterity. However, the unit-inhomogeneity problem existing in the Jacobian matrix of some mechanisms with both translational and rotational degrees of freedom discourages the designers from using this index. Addressing this issue, this paper furthers the earlier work and presents a new general method for...
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