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Motion planning capability is an essential part of an industrial robot system. Therefore research in robot motion planning remains as one of the important fields of study in the task of building industrial robot systems. A new method for the motion planning is presented in this paper. The basic idea is to find a smooth path consisting of points close enough to each other. Then the computation of the...
An iterative method using the neural networks to solve the inverse kinematics problem for equal length links redundant manipulators is presented in this paper. The training phase, calculating the neural networks weights, is accomplished for a new proposed geometrical method to solve the problem of multi-solution caused by redundancy. The use of this geometrical method results in one solution among...
This paper describes a new geometrical method to solve the inverse kinematic problem for hyper redundant manipulators. The proposed method finds one solution from these infinite solutions. By using this method, the angles between each adjacent links are the same, which makes controlling the movement of these links easier and makes a lining up of two or more joint axes not possible, i.e. very effective...
Hyper-redundant manipulators have large number of kinematic degrees of freedom, thus processing some unconventional features such as the ability to enter a narrow space while avoiding obstacles. To solve the problem of multi-solution caused by redundancy, a geometrical method is presented in this paper. This proposed method finds one optimal solution to the inverse kinematics of redundant or hyper...
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