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Littérature scientifique sur le sujet « Forward/inverse kinematics »

Auteur : Grafiati

Publié le 29 mars 2025

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Articles de revues sur le sujet "Forward/inverse kinematics"

Ge, Dawei. « Kinematics modeling of redundant manipulator based on screw theory and Newton-Raphson method ». Journal of Physics : Conference Series 2246, n^o 1 (1 avril 2022) : 012068. http://dx.doi.org/10.1088/1742-6596/2246/1/012068.

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Abstract In this paper, forward kinematics and inverse kinematicsis algorithms are proposed to solve the problem that the redundant manipulator has more freedom than the traditional manipulator and cannot directly solve the inverse kinematics analytical solution. Firstly, the forward kinematics model is established through the screw theory; secondly, Newton-Raphson method is used to solve the inverse kinematics of the manipulator. Finally, the algorithms of redundant manipulator are verified through an example simulated by Matlab Robotics toolbox. The results show that the kinematic algorithms are correct, which provides a good algorithm basis for subsequent dynamic control.

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Meng, Guang Zhu, Guang Ming Yuan, Zhe Liu et Jun Zhang. « Forward and Inverse Kinematic of Continuum Robot for Search and Rescue ». Advanced Materials Research 712-715 (juin 2013) : 2290–95. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2290.

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Continuum robot is a new type robot which has many applications,such as medical surgery, mine collapse, urban search and rescue etc. In this paper, the forward and inverse kinematics analysis of continuum robot for search and rescue is presented. The forword kinematic has been formulated by product of exponentials. The inverse kinematics for the robot is carried out by a geometrical approach. Finally, the forward and inverse kinematic simulation is completed by Matlab. The simulation results are given for the robot to illustrate the method effectiveness.

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Xin, Shi Zhi, Luo Yu Feng, Hang Lu Bing et Yang Ting Li. « A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot ». Journal of Mechanical Design 129, n^o 8 (18 août 2006) : 793–98. http://dx.doi.org/10.1115/1.2735636.

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The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinematics problems of the general 7R single-loop mechanism can be obtained. The new method has the following features: (1) using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; and (2) compared with the algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

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Zhao, Rui Feng, Zhen Zhang et Jiu Qiang Cui. « The Kinematics Modeling and Simulation of a Mechanical Arm in Nuclear Industry with Postpositional Drive ». Applied Mechanics and Materials 496-500 (janvier 2014) : 754–59. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.754.

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For the particularity of the environment in nuclear industry, this paper puts forward a modularized mechanical arm with postpositional drive. On the basis of structural characteristics and kinematic constraints, the kinematics of robotic arm is analyzed. The D-H method is used for describing the workspace, based on considering the kinematic constraints, the forward kinematics model is achieved. Using an improved search method, the inverse kinematics solution is obtained. Through the simulation on data processing software, the validity of positive kinematics model and inverse kinematic solutions are verified. Finally, the trajectory planning is completed on the three-dimensional modeling platform.

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Jatsun, S. F., et Yan Naing Soe. « KINEMATIC AND JACOBIAN ANALYSIS APPROACH FOR THE FOUR-LEGGED ROBOT ». Proceedings of the Southwest State University 22, n^o 4 (28 août 2018) : 32–41. http://dx.doi.org/10.21869/2223-1560-2018-22-4-32-41.

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This paper presents forward kinematics, inverse kinematics and Jacobian analysis of four-legged robot research. The kinematics analysis is the main problem of the legged robot. The four-legged robots are very complex more than wheeled robots. In this study,the four-legged robot of each leg calculates Denavit-Hartenberg (D-H) method,that is used for forward kinematics and the inverse is used the geometrical and mathematical methods.The Kinematic divided into two categories Forward Kinematic and Inverse Kinematics. The forward kinematic is calculated we knew the leg of endpoint position for the angles (θ1,θ2 and θ3 ). . Inverse kinematics is used to compute the joint angles which will achieve a desired position and orientation of the end-effector relative to the base frame. The Jacobian is one of the most important analyses for controlling smooth trajectory planning and execution in the derivation of the dynamic equation of robot motion.For calculation is used MATLAB software and robot modeling is used Simulink toolbox in MATLAB software. A program is obtained that calculate joint of angular velocity and angles to move from the desired position to target position. In this study are given different angular velocity and angle of the endpoint of the leg. The work mainly focuses on mechanical design, calculation of kinematic analysis, Jacobian function and experiment data of four-legged robots in MATLAB simulation.

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Iskandar, Fathur Rokhman, Imam Sucahyo et Meta Yantidewi. « Penerapan Metode Invers kinematik Pada Kontrol Gerak Robot Lengan Tiga Derajat Bebas ». Inovasi Fisika Indonesia 9, n^o 2 (22 juin 2020) : 64–71. http://dx.doi.org/10.26740/ifi.v9n2.p64-71.

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AbstrakRobot didefinisikan sebagai suatu instrumen yang terdiri dari perangkat keras dan perangkat lunak yang berfungsi untuk membantu pekerjaan manusia. Salah satu pekerjaan yang dapat dilakukan oleh robot adalah proses pemindahan barang dari satu tempat ke tempat yang lain. Sistem gerak robot lengan diadaptasi dari sistem gerak lengan manusia yang memiliki sendi atau disebut dengan joint dan link sebagai penghubung antar joint. Pergerakan robot lengan dapat ditentukan dengan menggunakan metode trial-error atau yang biasa dikenal dengan forward kinematik. Namun, metode ini dinilai lebih memakan waktu dan memori. Untuk mengatasi hal tersebut dibutuhkan metode yang merupakan kebalikan dari metode forward kinematik, yaitu metode invers kinematik. Metode invers kinematik merupakan metode pergerakan robot lengan dengan variabel yang diketahui adalah titik koordinat tujuan. Penelitian dilakukan dengan memberi masukan berupa koordinat (x, y, z) pada mikrokontroler. Data tersebut akan diproses menggunakan metode inver kinematik untuk mendapat sudut yang harus dituju oleh motor servo ( ). Sudut sebenarnya yang dituju robot akan diukur secara langsung menggunakan busur derajat ( ) sebagai pembanding. Dari penelitian yang dilakukan, didapatkan hasil persentase error rata-rata untuk servo 1 sebesar 0,14%, servo 2 sebesar 0,43%, dan servo 3 sebesar 6,47%, servo 3 pada robot lengan memiliki nilai minimal yang bisa dicapai yaitu sebesar 50o. Persentase error rata-rata untuk sumbu X sebesar 0,42%, sumbu Y sebesar 5,03%, dan sumbu Z sebesar 3,46%. Dari hasil tersebut dapat dikatakan bahwa metode invers kinematik merupakan metode yang baik sebagai metode kontrol gerak robot lengan.Kata Kunci: robot lengan. Invers kinematik, forward kinematik. AbstractRobot is determined as an instrument consisting of hardware and software that functions to help human work. One of the jobs that can be done by robots is the process of moving goods from one place to another. Robot arm motion system is adapted from the human arm motion system which has joints and links to connected the joints. The movement of the robot arm can be determined by using the trial-error method or commonly known as forward kinematics. However, this method consumes more time and memory. To overcome this, we need a method which is the opposite of the forward kinematics method, that is inverse kinematics method. Inverse kinematics method is a method of robot arm movement with the coordinates point of destination as the known variable. The study was conducted by providing input in the form of coordinates (x, y, z) on the microcontroller. The data will be processed using inverse kinematics method to get the desired angle that will be reached by the servo motor ( ). The actual angle that the robot is pointing to will be measured directly using a protractor ( ) as a comparison. From the experiments carried out, the average error percentage for servo 1 is 0.14%, servo 2 is 0.43%, and servo 3 is 6.47%, servo 3 on the robot arm has a minimum value that can be achieved that is equal to 50o. The average error percentage for the X axis is 0.42%, the Y axis is 5.03%, and the Z axis is 3.46%. From these results, it can be said that the inverse kinematics method is a good method as a controlling method of robot arm motion.Keywords: robot arm, inverse kinematics, forward kinematics.

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Zhou, Yi Jun, Xue Ming Li, Hai Yang Xu et Heng Liang Fan. « Method and Simulation for Kinematics of 6-SPS Parallel Mechanism ». Advanced Materials Research 1033-1034 (octobre 2014) : 1334–37. http://dx.doi.org/10.4028/www.scientific.net/amr.1033-1034.1334.

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Solving forward displacement is the difficulty of the 6-SPS parallel kinematics calculations, to make sure solving forward displacement easily, in this paper, added a initial multi-DOF drive to the 6-SPS parallel mechanism's moving platform in the ADAMS environment to make kinematical simulation, to get simulation of inverse kinematics solution and strike a theoretical inverse kinematics solution in the MATLAB environment, and prove the correctness of simulation of inverse solution. The inverse simulation position be used as input parameters to drive this parallel mechanism, by the solving forward displacement, results showed that the forward displacement is consist with the initial-DOF-driven values, indicating it is correct. It proves the use of these methods can be simply and easily calculate the required 6-SPS parallel mechanism positive solution, which can provide the reference of such institutions' solving forward position and control.

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Kumar K, Pavan, Murali Mohan J et Srikanth D. « Generalized solution for inverse kinematics problem of a robot using hybrid genetic algorithms ». International Journal of Engineering & ; Technology 7, n^o 4.6 (25 septembre 2018) : 250. http://dx.doi.org/10.14419/ijet.v7i4.6.20486.

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The robot control consists of kinematic control and dynamic control. Control methods of the robot involve forward kinematics and inverse kinematics (IK). In Inverse kinematics the joint angles are found for a given position and orientation of the end effector. Inverse kinematics is a nonlinear problem and has multiple solutions. This computation is required to control the robot arms. A Genetic Algorithm (GA) and Hybrid genetic algorithm (HGA) (Genetic Algorithm in conjunction with Nelder-Mead technique) are proposed for solving the inverse kinematics of a robotic arm. HGA introduces two concepts exploration, exploitation. In an exploration phase, the GA identifies the good areas in entire search space and then exploitation phase is performed inside these areas by using Nelder- mead technique Binary Simulated Crossover and niching strategy for binary tournament selection operator is used. Proposed algorithms can be used on any type of manipulator and the only requirement is the forward kinematic equations, which are easily obtained. As a case study inverse kinematics of a Two Link Elbow Manipulator and PUMA manipulator are solved using GA and HGA in MATLAB. The algorithm is able to find all solutions without any error

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Vu, Hung Minh, Trung Quang Trinh et Thang Quoc Vo. « Research on kinematic structure of a redundant serial industrial robot arm ». Science and Technology Development Journal 19, n^o 3 (30 septembre 2016) : 24–33. http://dx.doi.org/10.32508/stdj.v19i3.561.

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This paper proposes a new kinematic structure of a redundant serial robot arm and presents forward and inverse kinematic analysis. This is a new structure developed based on the robot IRB 2400 of ABB. The new structure consists of six revolute joints and two prismatic joints. The proposed robot arm has only seven degrees of freedom because the structure has a constraint between two revolute joints. Two prismatic joints help to expand workspaces of manipulator from small to very large. The paper describes in details about forward and inverse kinematics. Forward kinematics is derived based on DH Convention while inverse kinematics is calculated based on an objective function to minimize motions of a revolute joint and two prismatic joints. The simulation results on Matlab software indicated that the joint positions and velocities of a redundant serial robot arm matched well the trajectories in Cartesian Space.

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Kifayat Mammadova, Aytan Aliyeva, Kifayat Mammadova, Aytan Aliyeva, et Nigar Baghirova Nigar Baghirova. « CONSTRUCTION OF THE KINEMATIC MODEL OF ROBOTIC SYSTEMS IN THE MATLAB ENVIRONMENT ». ETM - Equipment, Technologies, Materials 16, n^o 04 (6 octobre 2023) : 67–75. http://dx.doi.org/10.36962/etm16042023-67.

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Robotics has become relatively accessible with low-cost projects, but there is still a need to create models that accurately represent the robot's physical behavior. Creating a virtual platform allows us to test behavioral algorithms using artificial intelligence. In addition, it will enable us to find potential problems in the physical design of the robot. The article describes the methodology of building a kinematic model and simulation of an autonomous robot. The development of a kinematic model and its implementation using several tools are presented. The environment used for the experiment is very close to natural conditions and reflects the kinematic characteristics of the robot. As a result, the simulation of the model following the mobile robot's kinematics is executed and tested in MATLAB. As a study, the m-file creation in MATLAB, its use with the Simulink package, and the solution of the forward and inverse problem of kinematics are shown. In addition to constructing the robot body using Simulink blocks, the structure of the kinematic scheme is simulated using the Denavit-Hartenberg (DH) parameters of the robot without blocks. "Simscape" and "Robotics System Toolbox" packages simulate forward and inverse kinematics using the Simulink package, and the robot's handle and body movement are observed. In the forward kinematics problem, the readings in the Scope compare the signals received from joint one and the end effector. For the inverse kinematic problem, the parameters of the manipulator along the XYZ axes are entered using the "Signal builder" block, and the circular movement of the arm is observed. In contrast, the handle of the manipulator remains fixed at a given point. Keywords: mobile robot, kinematic model, the forward and inverse problem of kinematics, Denavit-Hartenberg parameters, joint types

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Thèses sur le sujet "Forward/inverse kinematics"

Doctor, Diana. « Aplikace quaternionů v kinematice robotu ». Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-401559.

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This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated

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Vacek, Václav. « Aplikace technologie MOLECUBES v robotice ». Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2016. http://www.nusl.cz/ntk/nusl-242848.

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The aim of the thesis is to propose and make a robot, which is made of identical modules. These modules are able to connect or disconnect themselves and thanks to this feature new structures of robot can be achieved. This problem is solved by the design proposal of a module, which is capable to rotate in two axis and has connection connectors for other modules. Communication is carried out by Wi-fi connection to the computer and angles required for reconfiguration are calculated by inverse kinematics in Matlab program. On these modules the reconfiguration test was succesfully demonstrated.

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Vítek, Filip. « Konfigurace robotické struktury za použití MOLECUBES ». Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232194.

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This master thesis is focused on Modular Self-Reconfigurable Robotic Systems. Their description is made at first and then possibilities of their use are listed. The next chapter concerns Molecubes modular system. The design of similar system where the construction of the individual modules is described follows. The transformations of coordinated systems in the individual modules are described and the calculation of forward kinematics and simulation of inverse kinematics is made at the end of the thesis.

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Potvin, Brigitte. « Predicting Muscle Activations in a Forward-Inverse Dynamics Framework Using Stability-Inspired Optimization and an In Vivo-Based 6DoF Knee Joint ». Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/34647.

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Modeling and simulations are useful tools to help understand knee function and injuries. As there are more muscles in the human knee joint than equations of motion, optimization protocols are required to solve a problem. The purpose of this thesis was to improve the biofidelity of these simulations by adding in vivo constraints derived from experimental intra-cortical pin data and stability-inspired objective functions within an OpenSim-Matlab forward-inverse dynamics simulation framework on lower limb muscle activation predictions. Results of this project suggest that constraining the model knee joint’s ranges of motion with pin data had a significant impact on lower limb kinematics, especially in rotational degrees of freedom. This affected muscle activation predictions and knee joint loading when compared to unconstrained kinematics. Furthermore, changing the objective will change muscle activation predictions although minimization of muscle activation as an objective remains more accurate than the stability inspired functions, at least for gait. /// La modélisation et les simulations in-silico sont des outils importants pour approfondir notre compréhension de la fonction du genou et ses blessures. Puisqu’il y a plus de muscles autour du genou humain que d’équations de mouvement, des procédures d’optimisation sont requises pour résoudre le système. Le but de cette thèse était d’explorer l’effet de changer l’objectif de cette optimisation à des fonctions inspirées par la stabilité du genou par l’entremise d’un cadre de simulation de dynamique directe et inverse utilisant MatLab et OpenSim ainsi qu'un model musculo-squelétaire contraint cinématiquement par des données expérimentales dérivées de vis intra-corticales, sur les prédictions d’activation musculaire de la jambe. Les résultats de ce projet suggèrent que les contraintes de mouvement imposées sur le genou modélisé ont démontré des effets importants sur la cinématique de la jambe et conséquemment sur les prédictions d'activation musculaire et le chargement du genou. La fonction objective de l'optimisation change aussi les prédictions d’activations musculaires, bien que la fonction minimisant la consommation énergétique soit la plus juste, du moins pour la marche.

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Routson, Rebecca Linn. « The Effects of Varying Speed on the Biomechanics of Stair Ascending and Descending in Healthy Young Adults : Inverse Kinematics, Inverse Dynamics, Electromyography and a Pilot Study for Computational Muscle Control and Forward Dynamics ». The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1281578603.

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Aristidou, Andreas. « Tracking and modelling motion for biomechanical analysis ». Thesis, University of Cambridge, 2010. https://www.repository.cam.ac.uk/handle/1810/237554.

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This thesis focuses on the problem of determining appropriate skeletal configurations for which a virtual animated character moves to desired positions as smoothly, rapidly, and as accurately as possible. During the last decades, several methods and techniques, sophisticated or heuristic, have been presented to produce smooth and natural solutions to the Inverse Kinematics (IK) problem. However, many of the currently available methods suffer from high computational cost and production of unrealistic poses. In this study, a novel heuristic method, called Forward And Backward Reaching Inverse Kinematics (FABRIK), is proposed, which returnsvisually natural poses in real-time, equally comparable with highly sophisticated approaches. It is capable of supporting constraints for most of the known joint types and it can be extended to solve problems with multiple end effectors, multiple targets and closed loops. FABRIK wascompared against the most popular IK approaches and evaluated in terms of its robustness and performance limitations. This thesis also includes a robust methodology for marker prediction under multiple marker occlusion for extended time periods, in order to drive real-time centre of rotation (CoR) estimations. Inferred information from neighbouring markers has been utilised, assuming that the inter-marker distances remain constant over time. This is the firsttime where the useful information about the missing markers positions which are partially visible to a single camera is deployed. Experiments demonstrate that the proposed methodology can effectively track the occluded markers with high accuracy, even if the occlusion persists for extended periods of time, recovering in real-time good estimates of the true joint positions. In addition, the predicted positions of the joints were further improved by employing FABRIK to relocate their positions and ensure a fixed bone length over time. Our methodology is tested against some of the most popular methods for marker prediction and the results confirm that our approach outperforms these methods in estimating both marker and CoR positions. Finally, an efficient model for real-time hand tracking and reconstruction that requires a minimumnumber of available markers, one on each finger, is presented. The proposed hand modelis highly constrained with joint rotational and orientational constraints, restricting the fingers and palm movements to an appropriate feasible set. FABRIK is then incorporated to estimate the remaining joint positions and to fit them to the hand model. Physiological constraints, such as inertia, abduction, flexion etc, are also incorporated to correct the final hand posture. A mesh deformation algorithm is then applied to visualise the movements of the underlying hand skeleton for comparison with the true hand poses. The mathematical framework used for describing and implementing the techniques discussed within this thesis is Conformal GeometricAlgebra (CGA).

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Pivovarník, Marek. « Matematické principy robotiky ». Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230139.

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Táto diplomová práca sa zaoberá matematickými aparátmi popisujúcimi doprednú a inverznú kinematiku robotického ramena. Pre popis polohy koncového efektoru, teda doprednej kinematiky, je potrebné zaviesť špeciálnu Euklidovskú grupu zobrazení. Táto grupa môže byť reprezentovaná pomocou matíc alebo pomocou duálnych kvaterniónov. Problém inverznej kinematiky, kedy je potrebné z určenej polohy koncového efektoru dopočítať kĺbové parametre robotického ramena, je v tejto práci riešený pomocou exponenciálnych zobrazení a Grobnerovej bázy. Všetky spomenuté popisy doprednej a inverznej kinematiky sú aplikované na robotické rameno s troma rotačnými kĺbami. Odvodené postupy sú následne implementované a vizualizované v prostredí programu Mathematica.

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Filho, Sylvio Celso Tartari. « Modelagem e otimização de um robô de arquitetura paralela para aplicações industriais ». Universidade de São Paulo, 2006. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-07122006-151723/.

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Este trabalho trata do estudo de robôs de arquitetura paralela, focando na modelagem e otimização dos mesmos. Não foi construído nenhum tipo de protótipo físico, contudo os modelos virtuais poderão, no futuro, habilitar tal façanha. Após uma busca por uma aplicação que se beneficie do uso de um robô de arquitetura paralela, fez-se uma pesquisa por arquiteturas viáveis já existentes ou relatadas na literatura. Escolheu-se a mais apta e prosseguiu-se com os estudos e modelagem cinemática e dinâmica, dando uma maior ênfase na cinemática e dinâmica inversa, esta última utilizando a formulação de Newton - Euler. Foi construído um simulador virtual em ambiente MATLAB 6.5, dotado de várias capacidades como interpolação linear e circular, avanço e uso de múltiplos eixos coordenados. Seu propósito principal é o de demonstrar a funcionalidade e eficácia dos métodos utilizados. Depois foi incorporado ao simulador um algoritmo de cálculo do volume de trabalho da máquina que utiliza alguns dados do usuário para calcular o volume, que pode ser aquele atrelado a uma postura em particular ou o volume de trabalho de orientação total. Algoritmos para medir o desempenho da máquina quanto à uniformidade e utilização da força dos atuadores foram construídos e também incorporados ao simulador, que consegue mostrar o elipsóide de forças ao longo de quaisquer movimentos executados pela plataforma móvel. Quanto à otimização, parte do ferramental previamente construído foi utilizado para que se pudesse chegar a um modelo de uma máquina que respeitasse restrições mínimas quanto ao tamanho e forma de seu volume de trabalho, mas ainda mantendo o melhor desempenho possível dentro deste volume.
This work is about the study of parallel architecture robots, focusing in modeling and optimization. No physical prototypes were built, although the virtual models can help those willing to do so. After searching for an application that could benefit from the use of a parallel robot, another search was made, this time for the right architecture type. After selecting the architecture, the next step was the kinematics and dynamics analysis. The dynamics model is developed using the Newton ? Euler method. A virtual simulator was also developed in MATLAB 6.5 environment. The simulator?s main purpose was to demonstrate that the methods applied were correct and efficient, so it has several features such as linear and circular interpolations, capacity to use multiple coordinate systems and others. After finishing the simulator, an algorithm to calculate the machine workspace was added. The algorithm receives as input some desired requirements regarding the manipulator pose and then calculates the workspace, taking into consideration imposed constraints. Lastly, algorithms capable to measure the manipulator?s performance regarding to its actuator and end-effector force relationship were also incorporated into the simulator that calculates the machine?s force ellipsoid during any movement, for each desired workspace point. For the optimization procedures, some previously developed tools were used, so that the resulting model was capable to respect some workspace constraints regarding size and shape, but also maintaining the best performance possible inside this volume.

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Dokoupil, Petr. « Animační knihovna se zaměřením na skeletální animace ». Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2009. http://www.nusl.cz/ntk/nusl-236629.

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This thesis proposes an architecture of animation engine flexible enough to support large scale of animation algorithms with unified approach to each one of them. One of the major goals of the engine is to support creation of very complex animation seqences with high degree of animation execution control. The main animation technique used in the engine is skeletal animation and some variants of this technique are already implemented within, but it was never meant to be skeletal animation only engine and is designed that way.

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Spacca, Jordy Luiz Cerminaro. « Usando o Sistema de Inferência Neuro Fuzzy - ANFIS para o cálculo da cinemática inversa de um manipulador de 5 DOF / ». Ilha Solteira, 2019. http://hdl.handle.net/11449/183448.

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Orientador: Suely Cunha Amaro Mantovani
Resumo: No estudo dos manipuladores são utilizados os conceitos da cinemática direta e a inversa. No cálculo da cinemática direta tem-se a facilidade da notação de Denavit-Hartenberg, mas o desafio maior é a resolução da cinemática inversa, que se torna mais complexa conforme aumentam os graus de liberdade do manipulador, além de apresentar múltiplas soluções. As variáveis angulares obtidas pelas equações da cinemática inversa são utilizadas pelo controlador, para posicionar o órgão terminal do manipulador em um ponto específico de seu volume de trabalho. Na busca de alternativas para contornar estes problemas, neste trabalho utilizam-se os Modelos Adaptativos de Inferência Neuro-Fuzzy - ANFIS para a resolução da cinemática inversa, por meio de simulações, para obter o posicionamento de um manipulador robótico de 5 graus de liberdade, composto por sete servomotores controlados pela plataforma de desenvolvimento Intel® Galileo Gen 2, usado como caso de estudo. Nas simulações usamse ANFIS com uma arquitetura com três e quatro funções de pertinência de entrada, do tipo gaussiana. O desempenho da arquitetura da ANFIS implementada foi comparado com uma Rede Perceptron Multicamadas, demonstrando com os resultados favoráveis a ANFIS, a sua capacidade de aprender e resolver com baixo erro quadrático médio e com precisão, a cinemática inversa para o manipulador em estudo. Verifica-se também, que a performance das ANFIS melhora, quanto à precisão dos resultados, demonstrado pelo desvio médio d... (Resumo completo, clicar acesso eletrônico abaixo)
Abstract: In the study of manipulator’s, the concepts of direct and inverse kinematics are used. In the computation of forward kinematics, it has of the ease of Denavit-Hartenberg notation, but the biggest challenge is the resolution of the inverse kinematics, which becomes more complex as the manipulator's degrees of freedom increase, besides presenting multiple solutions. The angular variables obtained by the inverse kinematics equations are used by the controller to position the terminal organ of the manipulator at a specific point in its work volume. In the search for alternatives to overcome these problems, in this work, the Adaptive Neuro-Fuzzy Inference Models (ANFIS) are used to solve the inverse kinematics, by means of simulations, to obtain the positioning of a robot manipulator of 5 degrees of freedom, consisting of seven servomotors controlled by the Intel® Galileo Gen 2 development platform, used as a case's study . In the simulations ANFIS's architecture are used three and four Gaussian membership functions of input. The performance of the implemented ANFIS architecture was compared to a Multi-layered Perceptron Network, demonstrating with the favorable results the ANFIS, its ability to learn and solve with low mean square error and with precision, the inverse kinematics for the manipulator under study. It is also verified that the performance of the ANFIS improves, as regards the accuracy of the results in the training process, , demonstrated by the mean deviation of the... (Complete abstract click electronic access below)
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Chapitres de livres sur le sujet "Forward/inverse kinematics"

Starke, Sebastian, Norman Hendrich et Jianwei Zhang. « A Forward Kinematics Data Structure for Efficient Evolutionary Inverse Kinematics ». Dans Computational Kinematics, 560–68. Cham : Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60867-9_64.

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Hadfield, Hugo, Lai Wei et Joan Lasenby. « The Forward and Inverse Kinematics of a Delta Robot ». Dans Advances in Computer Graphics, 447–58. Cham : Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-61864-3_38.

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Berceanu, C., D. Tarnita, S. Dumitru et D. Filip. « Forward and Inverse Kinematics Calculation for an Anthropomorphic Robotic Finger ». Dans New Trends in Mechanism Science, 335–42. Dordrecht : Springer Netherlands, 2010. http://dx.doi.org/10.1007/978-90-481-9689-0_39.

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Altuzarra, Oscar, Diego Caballero, Francisco J. Campa et Charles Pinto. « Forward and Inverse Kinematics in 2-DOF Planar Parallel Continuum Manipulators ». Dans EuCoMeS 2018, 231–38. Cham : Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-98020-1_27.

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Xiao, Binghang, Jianzhe Huang, Wuji Liu, Yajun Teng, Lingfeng Qiao et Zhongliang Jing. « Forward and Inverse Kinematics Analysis of SMA Spring-Driven Flexible Manipulator ». Dans Lecture Notes in Electrical Engineering, 788–800. Singapore : Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-5912-6_58.

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Singh, Randheer, Vikas Kukshal et Vinod Singh Yadav. « A Review on Forward and Inverse Kinematics of Classical Serial Manipulators ». Dans Lecture Notes in Mechanical Engineering, 417–28. Singapore : Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-4018-3_39.

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My, Chu Anh, Duong Xuan Bien et Le Chi Hieu. « Forward and Inverse Kinematics Analysis of a Spatial Three-Segment Continuum Robot ». Dans Research in Intelligent and Computing in Engineering, 407–17. Singapore : Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-7527-3_40.

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Deshmukh, Deepak, Dilip Kumar Pratihar, Alok Kanti Deb, Hena Ray et Alokesh Ghosh. « ANFIS-Based Inverse Kinematics and Forward Dynamics of 3 DOF Serial Manipulator ». Dans Hybrid Intelligent Systems, 144–56. Cham : Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-73050-5_15.

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Brito, Thadeu, José Lima, João Braun, Luis Piardi et Paulo Costa. « A DOBOT Manipulator Simulation Environment for Teaching Aim with Forward and Inverse Kinematics ». Dans Lecture Notes in Electrical Engineering, 303–12. Cham : Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58653-9_29.

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Laryushkin, Pavel, Anton Antonov, Alexey Fomin et Victor Glazunov. « Inverse and Forward Kinematics of a Reconfigurable Spherical Parallel Mechanism with a Circular Rail ». Dans ROMANSY 24 - Robot Design, Dynamics and Control, 246–54. Cham : Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-06409-8_26.

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Actes de conférences sur le sujet "Forward/inverse kinematics"

Bian, Yangxin, Bin Zhu, Jun Wu et Yanling Tian. « Forward, Inverse Kinematics and Optimal Design of a Parallel Solar Tracker ». Dans 2024 9th International Conference on Automation, Control and Robotics Engineering (CACRE), 382–88. IEEE, 2024. http://dx.doi.org/10.1109/cacre62362.2024.10635026.

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Yoshimitsu, Yuhei, Takayuki Osa, Heni Ben Amor et Shuhei Ikemoto. « Active Learning for Forward/Inverse Kinematics of Redundantly-driven Flexible Tensegrity Manipulator ». Dans 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3512–18. IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802310.

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M, Navya, Muralidhara, Nirmith Jain, Vaishnavi Pai, Meghana Rao et Aparna Rao. « Estimation of Inverse Kinematics Solutions of a 2D Planar Robotic Manipulator using Feed-Forward Neural Network ». Dans 2024 International Conference on IoT Based Control Networks and Intelligent Systems (ICICNIS), 1040–44. IEEE, 2024. https://doi.org/10.1109/icicnis64247.2024.10823376.

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Srisuk, Pannawit, Adna Sento et Yuttana Kitjaidure. « Inverse kinematics solution using neural networks from forward kinematics equations ». Dans 2017 9th International Conference on Knowledge and Smart Technology (KST). IEEE, 2017. http://dx.doi.org/10.1109/kst.2017.7886084.

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Schinstock, Dale E., et James F. Cuttino. « Forward and Inverse Kinematic Solutions of a New Three Dimensional Metrology Frame ». Dans ASME 1997 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/imece1997-1182.

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Résumé :

Abstract A concept for a three dimensional, non-contacting metrology system is presented. Both the forward and the inverse kinematics solutions for the system are developed using a line geometry, resulting in an efficient representation that may describe a general assembly of the kinematic system and error parameters determined through calibration. The inverse kinematics solution is a general solution, assuming very little about the assembly of the system. The forward kinematics solution is less general and resorts to making a few assumptions. In the development of the forward and inverse kinematics solutions singularities of the system are identified.

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Kubus, Daniel, Rania Rayyes et Jochen J. Steil. « Learning Forward and Inverse Kinematics Maps Efficiently ». Dans 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018. http://dx.doi.org/10.1109/iros.2018.8593833.

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Dasari, Anish, et N. S. Reddy. « Forward and inverse kinematics of a robotic frog ». Dans 2012 4th International Conference on Intelligent Human Computer Interaction (IHCI). IEEE, 2012. http://dx.doi.org/10.1109/ihci.2012.6481850.

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Mitropoulos, Spyridon, Odysseas Tsakiridis et Ioannis Christakis. « Forward and Inverse Robotics Kinematics JavaScript-HTML5 Simulator ». Dans International Electronic Conference on Processes. Basel Switzerland : MDPI, 2024. http://dx.doi.org/10.3390/proceedings2024105035.

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Srisuk, Pannawit, Adna Sento et Yuttana Kitjaidure. « Forward kinematic-like neural network for solving the 3D reaching inverse kinematics problems ». Dans 2017 14th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON). IEEE, 2017. http://dx.doi.org/10.1109/ecticon.2017.8096211.

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Hroncova, Darina, Lubica Mikova, Erik Prada, Robert Rakay, Peter Jan Sincak et Tomas Merva. « Forward and inverse robot model kinematics and trajectory planning ». Dans 2022 20th International Conference on Mechatronics - Mechatronika (ME). IEEE, 2022. http://dx.doi.org/10.1109/me54704.2022.9983355.

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Rapports d'organisations sur le sujet "Forward/inverse kinematics"

Stouffer, Keith A. Development of the forward and inverse kinematic models for the Advanced Deburring and Chamfering System (ADACS) industrial robot. Gaithersburg, MD : National Institute of Standards and Technology, 1992. http://dx.doi.org/10.6028/nist.ir.4928.

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