Forward Kinematic and Jacobian Matrix for the Prosthetic Human Finger Actuated by Links

The most important function of a prosthetic hand is their ability to perform tasks in a manner similar to a natural hand, so it is necessary to perform kinematic analysis to determine the performance and the ability of the prosthetic human finger design to work normally and smoothly when it's drive by two sets of links that embedded in its structure and pulled by a servomotor, so the Denvit-Hartenberg method was used to analyse the forward kinematics for the prosthetic finger joints to deduction the trajectory of the fingertip and the velocity of the joints was computed by using the Jacobian matrix. The prosthetic finger was modelled by the Solidwork - 2018 program and the results of kinematics were verified using MATLAB. The analyses that were conducted on the design showed that the designed prosthetic finger has the ability to perform movements and meets the functional requirements for which it is designed.

Forward Kinematics of Delta Manipulator by Novel Hybrid Neural Network

For the parallel configuration of the robot manipulator, the solution of Forward Kinematics (FK) is tough as compared to Inverse Kinematics (IK). This work presents a novel hybrid method of optimizing an Artificial Neural Network (ANN) specifically Multilayer Perceptron (MLP) with Genetic Algorithm (GA) and Step-wise Linear Regression (SWLR) to solve the complex FK of Delta Parallel Manipulator (DPM). The joint space angular positional data has been iterated using IK to generate point cloud of Cartesian space positional data. This data set is highly random and broad which leads to higher-order nonlinearity. Hence, normalization of the dataset has been done to avoid outliers from the dataset and to achieve better performance. The developed ANN based MLP gave a mean square error of 0.0000762 and an overall R2 value of 0.99918. Finally, the proposed network has been simulated to solve FK of the parallel manipulator and to check its efficacy. For given joint angles, the proposed network predicted positional values which are in good approximation with known trajectory solved by standard analytical method.

Research on Region Division of Large Workpiece Based on Dexterous Workspace of Robot

In order to complete the processing of large-scale workpieces, a region division of large-scale workpieces based on robot dexterous workspace is studied. The linkage coordinate system of the robot is established by D-H method, and the forward kinematics equation of the robot is obtained; Monte Carlo method is used to analyze the workspace of the robot, and MATLAB is used to program to draw the workspace and task space of the robot; Taking an example part as the object, the feature of the part is studied, and the process of determining the task space area of the workpiece in the dexterous workspace of the robot is given, and the region of the workpiece is divided based on the size of the task space and the geometric features of the workpiece.

Six DOF Robotic Arm Prototype Modelling By Matlab

The study in this paper allows us to control the manipulator and achieve any desired position and orientation. The Forward Kinematics was done using Denavait Hartenberg (DH) parameters, also the forward kinematics equations and homogenous transformation matrix was validated using MATLAB Toolbox. The modeling was carried out using the Peter Corke robotics toolbox. Finally, the forward kinematic study and the robot arm’s movement equations were compared with practical measurements to make sure it fulfilled the desired purpose and that it could point to the desired coordinates with a precision of ±0.5 cm.