Ciprian-Radu Rad

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The paper addresses the analysis of forward kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink. Forward kinematics is solved numerically using Newton-Kantorovich (N-K) method and then is verified with a 1:1 CAD model through SimMechanics Toolbox from MATLAB/Simulink. Also the(More)
The paper presents the development of a humanoid robot head that is intended to be used in social interaction studies. In this study a set of solutions for reproducing the human head movement and part of the sensorial capabilities are developed and analyzed. For implementing the robot control and computer vision functions a set of applications were(More)
Precise and smooth motion control of servo-pneumatic actuating systems can be improved only by using appropriate mathematical models and identification procedures. In this paper, an improved modelling and parameter identification methodology of a servopneumatic linear drive unit with complex internal design that takes into account the influence of dead(More)
This paper presents a numerical implementation of inverse and direct kinematics of a 3-DOF parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using Matlab. The robot has two degrees of orientation freedom and one degree of translatory freedom. The inverse kinematics was expressed in term of Z-Y-Z Euler angles and direct kinematics was(More)
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