Feasibility of subspace identification for bipeds an innovative approach for kino-dynamic systems
- Authors: Saleem, Muhammad Saad , Sultan, Ibrahim
- Date: 2007
- Type: Text , Conference paper
- Relation: Paper presented at 4th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2007, Angers, France : 9th-12th May 2007 Vol. ICSO, p. 133-140
- Full Text: false
- Description: Different approaches have been briefly overviewed which have been used in stability of biped robots. Current implementations either mimic human behavior or use heuristic control. This paper suggests the use of modelfree crisp control in operational space configuration for better control and understanding of kino-dynamic systems and biped robots.
- Description: 2003004805
Analytical kinematics framework for the control of a parallel manipulator : A generalized kinematics framework for parallel manipulators
- Authors: Saleem, Muhammad Saad , Sultan, Ibrahim , Khan, Asim
- Date: 2009
- Type: Text , Conference paper
- Relation: Paper presented at ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Milan : 2nd-5th July 2009 Vol. 2 RA, p. 280-286
- Full Text: false
- Description: Forward and inverse kinematics operations are important in the operational space control of mechanical manipulators. In case of a parallel manipulator, the forward kinematics function relates the joint variables of the active joints to the position of end-effector. This paper finds analytically forward kinematics function by exploiting the position-closure property. Using the proposed function along with the analytical Jacobian presented in the literature, the forward and the inverse kinematics blocks are formulated for a prospective operational space control scheme. Finally, an example is presented for a 3-RPR robot.