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Robotics is a multi-disciplinary branch of science and technology. It is concerned with the study of multiple bodies in coordinated and controlled motion in space. As such it is inherently 3-dimenstional and requires a multidisciplinary approach that combines a variety of technologies, engineering disciplines, and advanced mathematics. Teaching robotics requires a solid understanding of the kinematics,...
This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution...
This paper describes and compares several approaches applied to compute the inverse kinematics of a 10 degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several error optimization algorithms. The algorithms' performance was evaluated based on two criteria: computing time and final actuator positioning error. The mentioned hyper-redundant robot...
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