Artykuły w czasopismach: „Forward/inverse kinematics”

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Ge, Dawei. "Kinematics modeling of redundant manipulator based on screw theory and Newton-Raphson method". Journal of Physics: Conference Series 2246, nr 1 (1.04.2022): 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 i Jun Zhang. "Forward and Inverse Kinematic of Continuum Robot for Search and Rescue". Advanced Materials Research 712-715 (czerwiec 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 i Yang Ting Li. "A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot". Journal of Mechanical Design 129, nr 8 (18.08.2006): 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 i Jiu Qiang Cui. "The Kinematics Modeling and Simulation of a Mechanical Arm in Nuclear Industry with Postpositional Drive". Applied Mechanics and Materials 496-500 (styczeń 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., i Yan Naing Soe. "KINEMATIC AND JACOBIAN ANALYSIS APPROACH FOR THE FOUR-LEGGED ROBOT". Proceedings of the Southwest State University 22, nr 4 (28.08.2018): 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 i Meta Yantidewi. "Penerapan Metode Invers kinematik Pada Kontrol Gerak Robot Lengan Tiga Derajat Bebas". Inovasi Fisika Indonesia 9, nr 2 (22.06.2020): 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 i Heng Liang Fan. "Method and Simulation for Kinematics of 6-SPS Parallel Mechanism". Advanced Materials Research 1033-1034 (październik 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 i Srikanth D. "Generalized solution for inverse kinematics problem of a robot using hybrid genetic algorithms". International Journal of Engineering & Technology 7, nr 4.6 (25.09.2018): 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 i Thang Quoc Vo. "Research on kinematic structure of a redundant serial industrial robot arm". Science and Technology Development Journal 19, nr 3 (30.09.2016): 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, i Nigar Baghirova Nigar Baghirova. "CONSTRUCTION OF THE KINEMATIC MODEL OF ROBOTIC SYSTEMS IN THE MATLAB ENVIRONMENT". ETM - Equipment, Technologies, Materials 16, nr 04 (6.10.2023): 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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Tao, Ke, Yuan Yuan Zhang, Zhi Jun Wang i Ping Ping Song. "The Mechanism Analysis and Trajectory Simulation of 5R Joint Manipulator". Applied Mechanics and Materials 220-223 (listopad 2012): 1744–47. http://dx.doi.org/10.4028/www.scientific.net/amm.220-223.1744.

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5R joint manipulator kinematics model of position module is established, and according to the D-H method kinematical analyse of manipulator is processed, the space pose transformation matrix between adjacent rods of manipulator is established. The position equations of the manipulator is obtained and the Forward & Inverse solution of kinematics are got. The correctness of the forward & inverse solution are also verified through a engineering examples.

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Limanuel, Fransisko, Calvin Susanto i Ferry Rippun Gideon Manalu. "Design and Implementation of 6 DOF ROTARIC Robot Using Inverse Kinematics Method". Jurnal Elektro 13, nr 2 (17.02.2021): 125–34. http://dx.doi.org/10.25170/jurnalelektro.v13i2.1930.

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This paper will discuss the calculation of inverse kinematic which will be used to control the 6-DOF articulated robot. This robot consists of 6 Dynamixel MX-28 smart servo with OpenCM 9.04 microcontroller. The articulated robot has been simplified to 4-DOF because there are no obstacles in the work area and no special movements are required. The calculation method uses the intersection point equation between the ball and the line, so that it can make it easier to determine the point in calculating the kinematic inverse. The experiment is carried out using the desired position as input for the kinematic inverse to produce the angle of each joint. From the angle of each joint obtained, it will be entered into forward kinematic so that the end-effector position will be obtained. The desired position will be compared with the end-effector position, and then how much difference will be calculated. From the experimental results, it was found that the inverse kinematic method which has been inverted by the forward kinematic produces the same final position. Keywords: 6-DOF manipulator, Articulated robot, inverse kinematics and forward kinematics, Dynamixel MX-28, OpenCM 9

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Hai Linh, Bui Thi, i Ying-Shieh Kung. "Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm". Mathematical Problems in Engineering 2015 (2015): 1–10. http://dx.doi.org/10.1155/2015/906505.

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When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL) is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM) is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.

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Zhao, Yong Guo, Yong Fei Xiao i Tie Chen. "Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator". Applied Mechanics and Materials 313-314 (marzec 2013): 937–40. http://dx.doi.org/10.4028/www.scientific.net/amm.313-314.937.

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In order to meet theneeds of high-speedpalletizing inlogistics automation industry, a 4 d4-DOF palletizingrobot manipulatorwas designed. Inthis paper,focusing on kinematic analysis, forward kinematics modeland inverse kinematics were introduced in detail.

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Ma, Liang Shun, Kuang Rong Hao i Yong Sheng Ding. "Forward Kinematics of Six-DOF Parallel Robot Based on Adaptive Differential Evolution". Applied Mechanics and Materials 303-306 (luty 2013): 1674–77. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1674.

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Parallel robot inverse kinematics solution is relatively easier to obtain than forward kinematics forward, this paper assumes that the forward kinematics of six-DOF parallel robot is given then using the kinematics inverse solution to approximate the forward solution. To improve efficiency and stability of the approximation, an adaptive parameters differential evolution algorithm is proposed and applied to the forward kinematics problem. The experimental results show that the modified algorithm can gain the forward kinematics of parallel robot efficiently.

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Antonov, Anton, Alexey Fomin, Victor Glazunov, Sergey Kiselev i Giuseppe Carbone. "Inverse and forward kinematics and workspace analysis of a novel 5-DOF (3T2R) parallel–serial (hybrid) manipulator". International Journal of Advanced Robotic Systems 18, nr 2 (1.03.2021): 172988142199296. http://dx.doi.org/10.1177/1729881421992963.

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The proposed study provides a solution of the inverse and forward kinematic problems and workspace analysis for a five-degree-of-freedom parallel–serial manipulator, in which the parallel kinematic chain is made in the form of a tripod and the serial kinematic chain is made in the form of two carriages displaced in perpendicular directions. The proposed manipulator allows to realize five independent movements—three translations and two rotations motion pattern (3T2R). Analytical relationships between the coordinates of the end-effector and five controlled movements provided by manipulator’s drives (generalized coordinates) were determined. The approach of reachable workspace calculation was defined with respect to available design constraints of the manipulator based on the obtained algorithms of the inverse and forward kinematics. Case studies are considered based on the obtained algorithms of inverse and forward kinematics. For the inverse kinematic problem, the solution is obtained in accordance with the given laws of position and orientation change of the end-effector, corresponding to the motion along a spiral-helical trajectory. For the forward kinematic problem, various assemblies of the manipulator are obtained at the same given values of the generalized coordinates. An example of reachable workspace designing finalizes the proposed study. Dimensions and extreme values of the end-effector orientation angles are calculated.

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Hernandez-Barragan, Jesus, Gabriel Martinez-Soltero, Jorge D. Rios, Carlos Lopez-Franco i Alma Y. Alanis. "A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots". Mathematics 10, nr 21 (5.11.2022): 4135. http://dx.doi.org/10.3390/math10214135.

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This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The kinematic analysis does not require using any Jacobian matrix nor its estimation; for this reason, the proposed approach does not suffer from singularities, which is a common problem with conventional inverse kinematics algorithms. Moreover, the proposed method solves cooperative manipulation tasks, especially in the case of coordinated manipulation. Simulation and real-world experiments were performed to verify the proposal’s effectiveness under coordinated inverse kinematics and trajectory tracking tasks. The experimental setup considered a mobile dual-arm system based on the KUKA® Youbot® robot. The solution of the inverse kinematics showed precise and accurate results. Although the proposed approach focuses on coordinated manipulation, it can be implemented to solve non-coordinated tasks.

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Hwang, Yunn Lin, Thi Na Ta i Cao Sang Tran. "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators". Applied Mechanics and Materials 883 (lipiec 2018): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.883.1.

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Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circular path. Dynamics analysis, forward kinematics and inverse kinematics of industrial robotic are archived in the latter topic. Two experiments were also performed on RRR and RRRRRR manipulators by analyzing the inverse kinematic equations to make these robots follow the desired trajectories. This study takes innovations and achieves control improvement in different systems with optimization controller or trajectory planning.

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Asif, Seemal, i Philip Webb. "Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist". Mathematical Problems in Engineering 2021 (2.02.2021): 1–11. http://dx.doi.org/10.1155/2021/6647035.

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The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical solutions are detailed based on D-H (Denavit–Hartenberg) parameters. The kinematics solution has been verified by solving the manipulator’s motion. It has been observed that the model is accurate as the motion trajectory was smoothly followed by the manipulator.

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Petelin, Daniil, Alexey Fomin, Pavel Laryushkin, Oxana Fomina, Giuseppe Carbone i Marco Ceccarelli. "Design, Kinematics and Workspace Analysis of a Novel 4-DOF Kinematically Redundant Planar Parallel Grasping Manipulator". Machines 11, nr 3 (22.02.2023): 319. http://dx.doi.org/10.3390/machines11030319.

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This article presents a model of a novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional 4-DOF manipulator, the proposed design includes an extensible platform, which provides kinematic redundancy. This constructive feature is used for grasping. The article discusses the inverse and forward kinematics of the proposed manipulator. The inverse kinematics algorithm provides the analytical relations between the platform coordinates and the driven (controlled) coordinates. The forward kinematics algorithm allows defining different assembly modes of the manipulator. Both algorithms are demonstrated using numerical examples. The article discusses different designs of the manipulator in which its links are placed in one, two, or three layers. Based on these designs, we performed their workspace analyses.

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Cheng, Xiang Li, Yi Qi Zhou, Cui Peng Zuo i Xiao Hua Fan. "Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot". Key Engineering Materials 474-476 (kwiecień 2011): 1315–20. http://dx.doi.org/10.4028/www.scientific.net/kem.474-476.1315.

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To assist stroke patients with rehabilitation training, an upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOF) was developed in this paper. Under the guidance of the theory of rehabilitation medicine, the mechanical design of the robot was completed. Then, the kinematics equations were established by means of homogeneous transformation, including the forward kinematics and the inverse kinematics. The kinematical analysis was carried out and the algebraic solution of inverse kinematics was derived, which provided a theoretical basis for realizing the intelligent control. To validate the performance, the kinematical simulation was conducted, and the simulation results showed that the design of the exoskeleton robot was feasible.

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Hu, X. Y., F. L. Mao i K. Hu. "Synthesis and Analysis of 3-CPC Space Mobile Parallel Mechanism". Journal of Physics: Conference Series 2890, nr 1 (1.11.2024): 012069. http://dx.doi.org/10.1088/1742-6596/2890/1/012069.

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Abstract The degree of freedom of 3-CPC space mobile parallel mechanism is calculated according to the screw theory, and the kinematics model of 3-CPC space mobile parallel mechanism is established by coordinate transformation method. By analyzing the forward and inverse kinematics, the Jacobian matrix 3-CPC space mobile parallel mechanism is derived. The workspace is obtained, and the kinematics performance is simulated. The results show that the forward and inverse kinematics of 3-CPC space mobile parallel mechanism is simple to solve, the workspace is large, and the mechanism has good kinematics performance and strong practical value. Finally, the 3-CPC space mobile mechanism is applied to the vibrating screen for material screening, and the motion trajectory of the moving platform is obtained. The kinematic performance analysis 3-CPC space mobile parallel mechanism provides the theoretical basis for the application of the mechanism.

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Wang, Yong, Xiaojun Liang, Kejie Gong i Ying Liao. "Kinematical Research of Free-Floating Space-Robot System at Position Level Based on Screw Theory". International Journal of Aerospace Engineering 2019 (2.06.2019): 1–13. http://dx.doi.org/10.1155/2019/6857106.

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Kinematics of a free-floating space-robot system is a fundamental and complex subject. Problems at the position level, however, are not considered sufficiently because of the nonholonomic property of the system. Current methods cannot handle these problems simply and efficiently. A novel and systematical modeling approach is provided; forward and inverse kinematics at the position level are deduced based on the product of exponentials (POE) formula and conservation of linear momentum. The whole deduction process is concise and clear. More importantly, inertial tensor parameters are not introduced. Then, three situations with different known variables are mainly studied. Due to the complexity of inverse kinematical equations, a numerical method is proposed based on Newton’s iteration method. Two calculation examples are given, a dual-arm planar model and a single-arm spatial model; both forward and inverse kinematical solutions are given, while inverse kinematical results are compared with simulation results of Adams. The results indicate that the proposed methods are quite accurate and efficient.

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Iwatsuki, Nobuyuki, Norifumi Nishizaka, Koichi Morikawa i Koji Kondoh. "Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF". International Journal of Automation Technology 4, nr 4 (5.07.2010): 364–71. http://dx.doi.org/10.20965/ijat.2010.p0364.

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This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints, and a center rod. The forward kinematic analysis of the manipulator based on the forward kinematics of each unit by numerical calculation was carried out. The inverse kinematic analysis, the iterative calculation so as to converge output error while output displacement is distributed into each unit with weighting coefficient, was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate the desired trajectories.

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Chen, Lu Min, i Fan Wang. "Kinematics of a New 14 DOF Humanoid Biped Robot". Advanced Materials Research 842 (listopad 2013): 564–68. http://dx.doi.org/10.4028/www.scientific.net/amr.842.564.

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This paper proposes a novel architecture for a biped robot with six DOFs per leg and an active toe DOF (Degrees of Freedom). The arrangement of three successive DOFs paralleled to each other makes its inverse kinematics simple and decoupled by omitting one DOF which is unnecessary when walking. And this work presents close equations for the forward and inverse kinematics. The results can be used in the kinematic control study of the robot.

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Ren, Rui, Chang Chun Ye i Guo Bin Fan. "Analyses of Error and Precision of 6-DOF Platform". Advanced Materials Research 591-593 (listopad 2012): 2081–86. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.2081.

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A particular subset of 6-DOF parallel mechanisms is known as Stewart platforms (or hexapod). Stewart platform characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. The biggest kinematics problem is parallel robotics which is the forward kinematics. On the basis of forward kinematic of 6-DOF platform, the algorithm model was built by Newton iteration, several computer programs were written in the MATLAB and Visual C++ programming language. The model is effective and real-time approved by forwards kinematics, inverse kinematics iteration and practical experiment. Analyzing the resource of error, get some related spectra map, top plat position and posture error corresponding every error resource respectively. By researching and comparing the error spectra map, some general results is concluded.

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Suwoyo, Heru, Andi Adriansyah, Julpri Andika, Muhammad Hafizd Ibnu Hajar, Thathit Gumilar Triwidya Mochtar, Muhammad Yusuf i Fajri Rezki Hutomo. "Utilizing Inverse Kinematics for Precise Guidance in Planning 6-DoF Robot End-Effector Movements". International Journal of Engineering Continuity 3, nr 1 (7.02.2024): 24–37. http://dx.doi.org/10.58291/ijec.v3i1.148.

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The solution of the kinematic inverse determines a substantial part of the robotic arm's control accuracy. Researchers frequently employ standard problem-solving techniques such as numerical, algebraic, iterative, and geometric methods. Although geometric like trigonometrical method has been widely studied, and their application is strongly dependent on the shape and dimensions of the robot. The complexity of the steps makes this approach difficult for researchers. In order to give a clearance and easiness, the step-by-step features of inverse kinematics are described in this research. The study begins with forward kinematics and refers to the DH-parameter in Homogeneous Matrix Transformations calculation. The existence of specific elements applied to mathematical derivation constituted the basis of forward kinematic discussions. And based on geometrical analysis, the inverse kinematic is then derived. Furthermore, simulations are performed to demonstrate the actual implementation of IK and the solution is then used to initiate the path planning process.

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Laschowski, Brock, Naser Mehrabi i John McPhee. "Inverse Dynamics Modeling of Paralympic Wheelchair Curling". Journal of Applied Biomechanics 33, nr 4 (sierpień 2017): 294–99. http://dx.doi.org/10.1123/jab.2016-0143.

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Paralympic wheelchair curling is an adapted version of Olympic curling played by individuals with spinal cord injuries, cerebral palsy, multiple sclerosis, and lower extremity amputations. To the best of the authors’ knowledge, there has been no experimental or computational research published regarding the biomechanics of wheelchair curling. Accordingly, the objective of the present research was to quantify the angular joint kinematics and dynamics of a Paralympic wheelchair curler throughout the delivery. The angular joint kinematics of the upper extremity were experimentally measured using an inertial measurement unit system; the translational kinematics of the curling stone were additionally evaluated with optical motion capture. The experimental kinematics were mathematically optimized to satisfy the kinematic constraints of a subject-specific multibody biomechanical model. The optimized kinematics were subsequently used to compute the resultant joint moments via inverse dynamics analysis. The main biomechanical demands throughout the delivery (ie, in terms of both kinematic and dynamic variables) were about the hip and shoulder joints, followed sequentially by the elbow and wrist. The implications of these findings are discussed in relation to wheelchair curling delivery technique, musculoskeletal modeling, and forward dynamic simulations.

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Bektilevov, A. Y., J. R. Ualiev, T. Shuak i M. Ualiyev. "Kinematics analysis of trajectory planning of four-degree-of-freedom robotic arm". Proceeding "Bulletin MILF" 58, nr 2 (15.06.2024): 57–67. http://dx.doi.org/10.56132/2791-3368.2024.2-49-05.

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This article describes the use of the Open MANIPULATOR-X open robotic platform with four degrees of freedom to model the forward and inverse kinematics of the robot arm. Algorithms for forward and inverse kinematics were developed, and simulations were conducted for comparative analysis. System verification and validation were performed, along with trajectory planning, error analysis, and structural optimization methods. The results obtained serve as a theoretical basis for future research into improving trajectory planning and optimizing robot design. The importance of using the MATLAB platform for kinematic modeling, simulation, and algorithm development is emphasized, contributing to the enhancement of robotics skills and innovation.

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Widyacandra, Ayu, Adnan Rafi Al Tahtawi i Martin Martin. "Forward and inverse kinematics modeling of 3-DoF AX-12A robotic manipulator". JITEL (Jurnal Ilmiah Telekomunikasi, Elektronika, dan Listrik Tenaga) 2, nr 2 (30.09.2022): 139–50. http://dx.doi.org/10.35313/jitel.v2.i2.2022.139-150.

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The presence of robots that can assist humans with heavy or dangerous work makes the need for robots more pressing at the moment. One type of robot needed is a robot arm, which is widely used in the manufacturing industry, such as in the assembly process and pick and place. The types of robotic arms used vary both in terms of configuration and the number of degrees of freedom. However, with different types of robotic arms, different models of movement are used. Therefore, research related to the modeling of the robotic arm continues to be carried out to obtain the appropriate movement of the robotic arm. One of the methods used as a first step in designing a robotic arm movement model is kinematics analysis. Kinematics analysis aims to analyze the movement of the robot arm without knowing what force causes the movement. This paper aims to produce an ideal movement model for the AX-12A 3-DoF robotic arm using forward kinematic and inverse kinematic analysis using two methods, the Denavit-Haterberg method and the geometric approach method. The difference from other papers is that this paper makes the kinematics model using Robotic, Vision, and Control (RVC) tools based on the Peter I. Corke model on MATLAB software first before implementing it on hardware. The results show that the error percentage for the forward kinematic model is 1.04% and the inverse kinematic is 0.76%, which means the two models achieved the target that the model’s error maximum must be less than 2%.

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Dalvand, Mohsen Moradi, i Bijan Shirinzadeh. "Kinematics Analysis of 6-DOF Parallel Micro-Manipulators with Offset U-Joints". International Journal of Intelligent Mechatronics and Robotics 2, nr 1 (styczeń 2012): 28–40. http://dx.doi.org/10.4018/ijimr.2012010102.

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This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies.

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32

Karimi, Davoud, i Mohammad Javad Nategh. "A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism". Journal of Applied Mathematics 2011 (2011): 1–17. http://dx.doi.org/10.1155/2011/393072.

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Both the forward and backward kinematics of the Gough-Stewart mechanism exhibit nonlinear behavior. It is critically important to take account of this nonlinearity in some applications such as path control in parallel kinematics machine tools. The nonlinearity of inverse kinematics is straightforward and has been first studied in this paper. However the nonlinearity of forward kinematics is more challenging to be considered as there is no analytic solution to the forward kinematic solution of the mechanism. A statistical approach including the Bates and Watts measures of nonlinearity has been employed to investigate the nonlinearity of the forward kinematics. The concept of standard sphere has been used to check the significance of the nonlinearity of the mechanism. It is demonstrated that the length of the region, defined as the linear approximation of the lifted line, has a significant impact on the nonlinearity of the mechanism.

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Setyawan, Muhammad Ramadhan Hadi, Raden Sanggar Dewanto, Bayu Sandi Marta, Eko Henfri Binugroho i Dadet Pramadihanto. "Kinematics modeling of six degrees of freedom humanoid robot arm using improved damped least squares for visual grasping". International Journal of Electrical and Computer Engineering (IJECE) 13, nr 1 (1.02.2023): 288. http://dx.doi.org/10.11591/ijece.v13i1.pp288-298.

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<span lang="EN-US">The robotic arm has functioned as an arm in the humanoid robot and is generally used to perform grasping tasks. Accordingly, kinematics modeling both forward and inverse kinematics is required to calculate the end-effector position in the cartesian space before performing grasping activities. This research presents the kinematics modeling of six degrees of freedom (6-DOF) robotic arm of the T-FLoW humanoid robot for the grasping mechanism of visual grasping systems on the robot operating system (ROS) platform and CoppeliaSim. Kinematic singularity is a common problem in the inverse kinematics model of robots, but. However, other problems are mechanical limitations and computational time. The work uses the homogeneous transformation matrix (HTM) based on the Euler system of the robot for the forward kinematics and demonstrates the capability of an improved damped least squares (I-DLS) method for the inverse kinematics. The I-DLS method was obtained by improving the original DLS method with the joint limits and clamping techniques. The I-DLS performs better than the original DLS during the experiments yet increases the calculation iteration by 10.95%, with a maximum error position between the end-effector and target positions in path planning of 0.1 cm.</span>

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Tang, Gang, Jinqin Sheng, Chuan Wu, Dongmei Wang i Shaoyang Men. "Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator". International Journal of Advanced Robotic Systems 19, nr 1 (1.01.2022): 172988142110676. http://dx.doi.org/10.1177/17298814211067668.

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This article analyzes the forward kinematics and inverse kinematics of the seven-degree-of-freedom exoskeleton rehabilitation manipulator. Denavit–Hartenberg coordinates are used to model the forward kinematics, and the working space of the end effector of the manipulator is analyzed according to the joint motion range of the human arm. In the inverse solution of the seven-degree-of-freedom exoskeleton rehabilitation manipulator, the self-motion angle [Formula: see text] of the elbow is used. The minimum energy standard is used to calculate the self-motion angle [Formula: see text]. The minimum energy mainly includes the gravitational potential energy of the upper limbs and the elastic potential energy stored in the muscles. Thus, the inverse solution formula of the seven-degree-of-freedom exoskeleton rehabilitation manipulator is derived. When calculating the angle [Formula: see text], an auxiliary parameter is introduced to solve the self-motion manifold of the manipulator. Finally, the theoretical derivation and verification of the forward and inverse kinematics are carried out in this article, and through analysis of the results, it is concluded that the inverse kinematics of this article has some limitations but the theory of inverse kinematics is feasible.

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Popov, Vasil, Andon V. Topalov, Tihomir Stoyanov i Sevil Ahmed-Shieva. "Kinematic Modeling with Experimental Validation of a KUKA®–Kinova® Holonomic Mobile Manipulator". Electronics 13, nr 8 (17.04.2024): 1534. http://dx.doi.org/10.3390/electronics13081534.

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We have proposed an open-source holonomic mobile manipulator composed of the KUKA youBot holonomic mobile platform with four Swedish wheels and a stationary aboard six-degrees-of-freedom Kinova Jaco Gen 2H manipulator, and we have developed corresponding kinematic problems. We have defined forward and inverse analytic Jacobians and designed Jacobian algorithms of forward and inverse mobile manipulator kinematics. An experimental test conducted with the designed laboratory prototype of the investigated mobile manipulator with the described kinematics was used to verify the obtained theoretical results. The goal of the test was to keep constant the position of the gripper in 3D space while the mobile platform is moving to some extend in the 2D workspace.

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Li, Yan, i You Li Chen. "Research on the Kinematics of Line Heating Robot Based on SVM". Applied Mechanics and Materials 668-669 (październik 2014): 361–65. http://dx.doi.org/10.4028/www.scientific.net/amm.668-669.361.

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The paper mainly analyzed the robot kinematics of the line heating plate. In order to realize the moving of complex trajectory for the robot, a forward kinematics modeling and the simulation of inverse kinematics are carried out. Firstly, with the D-H modeling method, the line heating plate robot forward kinematics equations and the spatial geometric model of the manipulator are set up, then multi-input multi-output systems based on support vector machines algorithm is used to establish the inverse kinematics model for the robot . At last, the simulations of tracing complex trajectory with the inverse kinematics model are carried out, and the results show that the model derived by SVM can trace the trajectory very well.

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37

Duleba, I., i I. Karcz-Duleba. "Suboptimal approximations in repeatable inverse kinematics for robot manipulators". Bulletin of the Polish Academy of Sciences Technical Sciences 65, nr 2 (1.04.2017): 209–17. http://dx.doi.org/10.1515/bpasts-2017-0025.

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Abstract In this paper a repeatable inverse kinematic task was solved via an approximation of a pseudo-inverse Jacobian matrix of a robot manipulator. An entry configuration to the task was optimized and a task-dependent definition of an approximation region, in a configuration space, was utilized. As a side effect, a relationship between manipulability and optimally augmented forward kinematics was established and independence of approximation task solutions on rotations in augmented components of kinematics was proved. A simulation study was performed on planar pendula manipulators. It was demonstrated that selection of an initial configuration to the repeatable inverse kinematic task heavily impacts solvability of the task and its quality. Some remarks on a formulation of the approximation task and its numerical aspects were also provided.

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38

Krivenok, Anton A., i Anatoly A. Burenin. "On the Parallel Kinematics of the FET Stretching Press in the Stretch Forming Operations in the Manufacture of Parts with Complex Spatial Geometry". Journal of Siberian Federal University. Mathematics & Physics 14, nr 6 (grudzień 2021): 735–45. http://dx.doi.org/10.17516/1997-1397-2021-14-6-735-745.

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The kinematics of a stretching press mechanism of a parallel structure are investigated. The kinematic dependences aimed at setting the spatial position of the working elements of a cross-stretching press of FET type, which allow positioning its jaws at any time during the technological operations, are obtained. The forward and inverse control kinematics problems of the jaw mechanism stretching press are solved

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Abbes, Manel, i Gérard Poisson. "Geometric Approach for Inverse Kinematics of the FANUC CRX Collaborative Robot". Robotics 13, nr 6 (14.06.2024): 91. http://dx.doi.org/10.3390/robotics13060091.

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Because they are safe and easy to use, collaborative robots are revolutionizing many sectors, including industry, medicine, and agriculture. Controlling their dynamics, movements, and postures are key points in this evolution. Inverse kinematics is then crucial for robot motion planning. In 6R serial robots, achieving a desired pose is possible with different joint combinations. In this paper, our focus lies in studying forward and, mainly, inverse kinematics of the FANUC CRX-10iA cobot, a 6R cobotic arm with a non-spherical wrist. Its specific structural parameters implies that no analytical solutions exist except for some particular situations. FANUC does not provide the complete set of inverse kinematic solutions, even when 16 solutions are possible, only 8 of them are provided in Roboguide software. Furthermore, the existing literature on joints-to-workspace mapping for CRX cobots is currently very limited. It either lacks or provides partial or inconsistent inverse kinematics analysis. We present and detail a novel fully geometric method for numerically solving inverse kinematics meeting the requirement of high precision and a fast response. This approach provides both the exact number of inverse kinematics solutions and the sets of joint angles even for singular configuration. Its effectiveness was verified through simulations using the Roboguide Software and experimentation on the actual CRX-10iA cobot. Several examples (8, 12, or 16 inverse kinematic solutions) have enabled us to validate and prove the robustness and reliability of this geometric approach.

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Cui, Guohua, Muyuan Sun, Liang Yan, Hongjuan Hou i Haiqiang Zhang. "Kinematic Reliability Solution of 3-UPS-PU Parallel Mechanism Based on Monte Carlo Simulation". Open Mechanical Engineering Journal 9, nr 1 (29.05.2015): 324–32. http://dx.doi.org/10.2174/1874155x01509010324.

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In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula. Position and orientation output error forward kinematics model was obtained by the differential transformation on the basis of inverse kinematic solution of the position. The curves of the position and orientation output errors can be plotted with a large batch production by adopting Monte-Carlo simulation method. Then kinematic reliability of the mechanism can be solved through the probability statistics method and theoretical solution method respectively. Finally, these two methods were compared with each other. The results illustrate that the results of the two methods are basically consistent, and the mechanism can be work reliably and stably under general operations, which provides some valuable references for the related future research.

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Yu, Yao, i Wu Hongtao. "The Kinematics Analysis of a Novel 3-DOF Cable-Driven Wind Tunnel Mechanism". Journal of Robotics 2010 (2010): 1–7. http://dx.doi.org/10.1155/2010/609391.

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The kinematics analysis method of a novel 3-DOF wind tunnel mechanism based on cable-driven parallel mechanism is provided. Rodrigues' parameters are applied to express the transformation matrix of the wire-driven mechanism in the paper. The analytical forward kinematics model is described as three quadratic equations using three Rodridgues' parameters based on the fundamental theory of parallel mechanism. Elimination method is used to remove two of the variables, so that an eighth-order polynomial with one variable is derived. From the equation, the eight sets of Rodridgues' parameters and corresponding Euler angles for the forward kinematical problem can be obtained. In the end, numerical example of both forward and inverse kinematics is included to demonstrate the presented forward-kinematics solution method. The numerical results show that the method for the position analysis of this mechanism is effective.

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42

Zhao, Da Xu, En Cang Di, Guo Zhong Shou i Yu Qi Gu. "Kinematics of a 6-DOF Feeding and Unloading Manipulator". Key Engineering Materials 620 (sierpień 2014): 490–95. http://dx.doi.org/10.4028/www.scientific.net/kem.620.490.

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In order to improve the efficiency of kinematics modeling in analyzing robots, this document used Lie groups and screw theory to describe rigid motion of the robot system, established a kinematic model of operating arm based on Product of Exponentials (POE) formula, and analyzed forward and inverse kinematics of chain topology structure robot, as well as several sub-inverse problem of inverse kinematics. A 6-DOF series-wound configuration loading and unloading manipulator has been used as an example, its kinematics equations are established by POE formula combined with screw theory, the special configuration of end effector under a specific task planning are calculated using Mathematica software. By contrast with D-H parameters method, we can draw a conclusion that POE formula and D-H parameters method are essentially equivalent. However, POE formula and motion screw have more definite geometric and physical meaning, neat expression form, convenient algebraic operation, are able to overcome limitations, such as calculation complexity and singularity in solving process, can meet kinematic analysis and real-time control of robot.

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Manalu, Ferry Rippun Gideon, Melisa Mulyadi i Linda Wijayanti. "PERANCANGAN SISTEM PENGGERAK ROBOT BERKAKI MENGGUNAKAN FORWARD KINEMATICS & INVERSE KINEMATICS". Jurnal Serina Sains, Teknik dan Kedokteran 1, nr 2 (31.10.2023): 375–84. http://dx.doi.org/10.24912/jsstk.v1i2.29000.

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Dalam makalah ini dibahas mengenai penerapan sistem pembelajaran matematika trigonometri dan fisika menggunakan robot lengan dan robot berkaki. Sistem ini dikembangkan sebagai alternatif yang bisa digunakan dalam pembelajaran robotika di sekolah dasar atau di universitas dibandingkan sistem yang ada dengan harga yang mungkin jauh lebih mahal. Sistem dibangun menggunakan mikrokontroler dan motor servo yang mudah diperoleh di toko online. Sistem dibuat untuk menggerakkan robot lengan 3 derajat kebebasan (DOF: degree of freedom), robot berkaki 4 dan robot berkaki 6. Pada tahapan pengujian dilakukan pengujian ketepatan posisi dari implementasi kinematika terbalik dan pergerakan kinematika maju robot 3 DOF dengan 3 jenis motor servo analog yang berbeda. Hasil pengujian memperlihatkan bahwa motor servo tipe SG90 menghasilkan kesalahan sudut yang lebih besar yaitu sekitar 6-8 derajat dibandingkan motor servo RDS 3135. Hal ini terjadi karena torsi motor SG90 sangat kecil untuk menggerakkan lengan dibandingkan MG945 dan RDS 3135. Dari pengujian perangkat lunak dapat di simpulkan bahwa perangkat lunak sudah memiliki fitur-fitur yang dibutuhkan yaitu fitur komunikasi, fitur, pengendalian Gerakan motor dan fitur perekaman gerakan, dan semua fitur sudah berfungsi sesuai dengan tujuan.

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Hu, Ming, i Jia Shun Shi. "The Kinematics Analysis of the 3-PTT Parallel Machine Tools". Applied Mechanics and Materials 701-702 (grudzień 2014): 784–87. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.784.

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This paper presents the kinematics for 3-PTT parallel machine tools, the kinematic is analytically performed, the forward and inverse position kinematic equations are explicit functions and workspace is derived and there is no singularity configuration and kinematic coupling in the whole workspace. The manipulability analytical of the parallel machine tool is investigated by the Jacobian matrix.

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Sulaeman, Indra, Akhmad Wahyu Dani i Triyanto Pangaribowo. "Analisa Inverse Kinematics Pada Prototype 3-DoF Arm Robot Dengan Metode Anfis". Jurnal Teknologi Elektro 13, nr 1 (8.02.2022): 14. http://dx.doi.org/10.22441/jte.2022.v13i1.003.

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Perkembangan teknologi yang sudah semakin maju memberi dampak pada perkembangan sistem kendali lengan robot. Sistem kendali lengan robot yang digunakan bermacam-macam. Beberapa teknik yang umum digunakan adalah metode forward kinematics dan inverse kinematics. Namun, metode inverse kinematics memiliki kompleksitas yang tinggi karena diperlukan perhitungan fungsi turunan dari forward kinematics. Metode terbaru yang saat ini dapat digunakan yaitu metode Adaptive Neuro Fuzzy Inference System (ANFIS). Pada umumnya ANFIS dilakukan untuk memprediksi data keluaran berdasarkan pelatihan hubungan data masukan dan data keluaran yang dimuat dalam dataset. Penerapan metode ANFIS yang dilakukan pada penelitian ini sebagai solusi inverse kinematics untuk mengurangi kompleksitas dari metode tersebut. Berdasarkan hasil pengujian yang dilakukan bahwa RMSE pada inverse kinematics bernilai 25.36137736 sedangkan RMSE pada metode ANFIS bernilai 42.18690271. Meskipun nilai error yang dihasilkan dari metode ANFIS cukup besar akibat beberapa faktor error yang mempengaruhinya, metode ANFIS ini terbukti dapat digunakan untuk kontrol lengan robot 3-DOF.

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46

Rahmani, Arash, Ahmad Ghanbari i Siamak Pedrammehr. "Kinematic Analysis for Hybrid 2-(6-UPU) Manipulator Using Wavelet Neural Network". Advanced Materials Research 1016 (sierpień 2014): 726–30. http://dx.doi.org/10.4028/www.scientific.net/amr.1016.726.

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This paper addresses forward and inverse kinematics of a specific class of serial-parallel manipulators, known as 2(6-UPU) manipulators. This manipulator composed of two modules which consist of elementary manipulators with the parallel structure of Stewart Platform. At first, the Kinematics Model of the hybrid manipulator is obtained. As there is a highly nonlinear relations between joint variables, and position and orientation of the end effectors, the inverse kinematic problem of these manipulators is quite complicated to solve. In this study, wavelet based neural network (WNN) with its inherent learning ability, is used to solve the inverse kinematic problem. Also, proposed wavelet neural network is applied to approximate the paths of mid and upper plates in circle and spiral trajectories. Finally, the results of simulation show high accurate performance of proposed method.

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47

Gonzalez-Islas, Juan-Carlos, Omar-Arturo Dominguez-Ramirez, Omar Lopez-Ortega, Jonatan Peña-Ramirez, Jesus-Patricio Ordaz-Oliver i Francisco Marroquin-Gutierrez. "Crouch Gait Analysis and Visualization Based on Gait Forward and Inverse Kinematics". Applied Sciences 12, nr 20 (11.10.2022): 10197. http://dx.doi.org/10.3390/app122010197.

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Crouch gait is one of the most common gait abnormalities; it is usually caused by cerebral palsy. There are few works related to the modeling of crouch gait kinematics, crouch gait analysis, and visualization in both the workspace and joint space. In this work, we present a quaternion-based method to solve the forward kinematics of the position of the lower limbs during walking. For this purpose, we propose a modified eight-DoF human skeletal model. Using this model, we present a geometric method to calculate the gait inverse kinematics. Both methods are applied for gait analysis over normal, mild, and severe crouch gaits, respectively. A metric-based comparison of workspace and joint space for the three gaits for a gait cycle is conducted. In addition, gait visualization is performed using Autodesk Maya for the three anatomical planes. The obtained results allow us to determine the capabilities of the proposed methods to assess the performance of crouch gaits, using a normal pattern as a reference. Both forward and inverse kinematic methods could ultimately be applied in rehabilitation settings for the diagnosis and treatment of diseases derived from crouch gaits or other types of gait abnormalities.

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Xue, Feiyang, Zhengjun Fang, Jiahao Song, Qi Liu i Shuofei Yang. "A New Method for Displacement Modelling of Serial Robots Using Finite Screw". Machines 12, nr 9 (20.09.2024): 658. http://dx.doi.org/10.3390/machines12090658.

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Kinematics is a hot topic in robotic research, serving as a foundational step in the synthesis and analysis of robots. Forward kinematics and inverse kinematics are the prerequisite and foundation for motion control, trajectory planning, dynamic simulation, and precision guarantee of robotic manipulators. Both of them depend on the displacement models. Compared with the previous work, finite screw is proven to be the simplest and nonredundant mathematical tool for displacement description. Thus, it is used for displacement modelling of serial robots in this paper. Firstly, a finite-screw-based method for formulating displacement model is proposed, which is applicable for any serial robot. Secondly, the procedures for forward and inverse kinematics by solving the formulated displacement equation are discussed. Then, two typical serial robots with three translations and two rotations are taken as examples to illustrate the proposed method. Finally, through Matlab simulation, the obtained analytical expressions of kinematics are verified. The main contribution of the proposed method is that finite-screw-based displacement model is highly related with instantaneous-screw-based kinematic and dynamic models, providing an integrated modelling and analysis methodology for robotic mechanisms.

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Szkodny, Tadeusz. "Forward and inverse kinematics of IRb-6 manipulator". Mechanism and Machine Theory 30, nr 7 (październik 1995): 1039–56. http://dx.doi.org/10.1016/0094-114x(95)00027-v.

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Fomin, Alexey, Anton Antonov, Victor Glazunov i Yuri Rodionov. "Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide". Robotics 10, nr 1 (7.02.2021): 31. http://dx.doi.org/10.3390/robotics10010031.

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The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

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Artykuły w czasopismach na temat „Forward/inverse kinematics”

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