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Wang Shanda, Luo Xiao, Luo Qingsheng and Han Baoling
This paper primarily studies the existence conditions for the closed-form inverse kinematic solution for revolute serial robots. Based on the results, a general closed-form inverse solution algorithm is designed.
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Pengyu Zhang, Jie Zhang and Jiangming Kan
The continuous path of a manipulator is often discretized into a series of independent action poses during path tracking, and the inverse kinematic solution of the manipulator?s poses is computationally challenging and yields inconsistent results. This r...
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Jiyang Yu, Dan Huang, Wenjie Li, Xianjie Wang and Xiaolong Shi
The method studied in this paper is applied to the control calculation of manipulator, especially the matrix chain multiplication in the calculation of forward and inverse kinematics solutions of manipulator.
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Asher Winter, Navid Mohajer, Darius Nahavandi and Shady Mohamed
Human Centrifuge Systems (HCSs) are an effective training tool to improve the G-acceleration and Spatial Disorientation (SD) tolerance of aircrew. Though highly capable HCSs are available, their structure and performance are yet to be fully optimised to ...
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Jiping An, Xinhong Li, Zhibin Zhang, Guohui Zhang, Wanxin Man, Gangxuan Hu, Junwei He and Dingzhan Yu
Space modular self-reconfigurable satellites (SMSRSs) are a new type of satellite with reconfigurable structures and adjustable functions. The inverse kinematics of the hyper-redundant structure of SMSRSs are difficult to solve by traditional methods. In...
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Gangxuan Hu, Guohui Zhang, Yanyan Li, Xun Wang, Jiping An, Zhibin Zhang and Xinhong Li
The modular self-reconfigurable satellites (MSRSs) are a new type of satellite that can transform configuration in orbit autonomously. The inverse kinematics of MSRS is difficult to solve by conventional methods due to the hyper-redundant degrees of free...
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Ivan Chavdarov and Bozhidar Naydenov
The work defines in a new way the different types of solutions of the inverse kinematics (IK) problem for planar robots with a serial topology and presents an algorithm for solving it. The developed algorithm allows the finding of solutions for a wide ra...
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Johane H. Bracamonte, Sarah K. Saunders, John S. Wilson, Uyen T. Truong and Joao S. Soares
Inverse modeling approaches in cardiovascular medicine are a collection of methodologies that can provide non-invasive patient-specific estimations of tissue properties, mechanical loads, and other mechanics-based risk factors using medical imaging as in...
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Ya?nan Lou, Pengkun Quan, Haoyu Lin, Dongbo Wei and Shichun Di
This paper presents a closed-form inverse kinematics solution for the 2n-degree of freedom (DOF) hyper-redundant serial manipulator with ??
n
identical universal joints (UJs). The proposed algorithm is based on a novel concept named as general spherical...
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Hongwen Zhang and Zhanxia Zhu
Motion planning is one of the most important technologies for free-floating space robots (FFSRs) to increase operation safety and autonomy in orbit. As a nonholonomic system, a first-order differential relationship exists between the joint angle and the ...
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Phan Gia Luan and Nguyen Truong Thinh
Cable-driven parallel manipulators (CDPMs) have been of great interest to researchers in recent years because they have many advantages compared to the traditional parallel robot. However, in many studies they lack the cable?s elasticity that leads to fl...
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Hsiang-Chen Hsu, Li-Ming Chu, Zong-Kun Wang, Shu-Chi Tsao
Pág. 40 - 45
In this paper, a SCARA robot arm with vision system has been developed to improve the accuracy of pick-and-place the surface mount device (SMD) on PCB during surface mount process. Position of the SCARA robot can be controlled by using coordinate auto-co...
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Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Stefano Dafarra, Gabriele Nava, Claudia Latella and Daniele Pucci
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for dynamically solving the inverse kinematics of highly articulate systems such as humans. The method presented is m...
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Florian Ion Tiberiu Petrescu,Relly Victoria Virgil Petrescu
Pág. 263 - 282
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Javad Enferadi, Mohammad Tavakolian
Pág. 107 - 114
Dynamics of a highly stiff parallel machine tool is the subject of this paper. High stiffness, good accuracy, relatively large workspace and free of singularities on the whole workspace makes the manipulator suitable for machining applications as an XY-T...
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Duc Thien Tran, Tien Dat Nguyen, Minh Khiem Tran and Kyoung Kwan Ahn
A control method for a cable-driven robot in a teleoperation system is proposed using the hardware-in-the-loop (HIL) simulation technique. The main components of the teleoperated robotic system are a haptic device, also called a delta robot, and a cable-...
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Songtao Zhang, Peng Zhao, Chenyang Li, Ziqi Song and Lihua Liang
In order to improve the accessibility of offshore wind O&M gangway in complex sea conditions, a control method for the controllable anti-rolling tank based on wavelet neural network period prediction is proposed in this paper. Firstly, a model of shi...
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Sébastien Garcia, Nicolas Delattre, Eric Berton and Guillaume Rao
Patellar tendinopathy is a chronic overuse injury of the patellar tendon which is prevalent in jump-landing activities. Sports activities can require jumping not only with a vertical component but also in a forward direction. It is yet unknown how jumpin...
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Lijun Han, Guoyuan Tang, Maolin Cheng, Hui Huang and De Xie
An adaptive nonsingular fast terminal sliding mode control scheme with extended state observer (ESO) is proposed for the trajectory tracking of an underwater vehicle-manipulator system (UVMS), where the system is subjected to the lumped disturbances asso...
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Carlo Albino Frigo, Christian Wyss and Reinald Brunner
The role of rectus femoris (RF) muscle during walking was analyzed through musculoskeletal models to understand the effects of muscle weakness and hyperactivity. Such understanding is fundamental when dealing with pathological gait, but the contribution ...
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