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Zaplana, Agut Isiah. "Solving robotic kinematic problems : singularities and inverse kinematics". Doctoral thesis, Universitat Politècnica de Catalunya, 2018. http://hdl.handle.net/10803/667496.
Pełny tekst źródłaLa cinemática es una rama de la mecánica clásica que describe el movimiento de puntos, cuerpos y sistemas de cuerpos sin considerar las fuerzas que causan dicho movimiento. Para un robot manipulador serie, la cinemática consiste en la descripción de su geometría, su posición, velocidad y/o aceleración. Los robots manipuladores serie están diseñados como una secuencia de elementos estructurales rígidos, llamados eslabones, conectados entres si por articulaciones actuadas, que permiten el movimiento relativo entre pares de eslabones consecutivos. Dos problemas cinemáticos de especial relevancia para robots serie son: - Singularidades: son aquellas configuraciones donde el robot pierde al menos un grado de libertad (GDL). Esto equivale a: (a) El robot no puede trasladar ni rotar su elemento terminal en al menos una dirección. (b) Se requieren velocidades articulares no acotadas para generar velocidades lineales y angulares finitas. Ya sea en un sistema teleoperado en tiempo real o planificando una trayectoria, las singularidades deben manejarse para que el robot muestre un rendimiento óptimo mientras realiza una tarea. El objetivo no es solo identificar las singularidades y sus direcciones singulares asociadas, sino diseñar estrategias para evitarlas o manejarlas. - Problema de la cinemática inversa: dada una posición y orientación del elemento terminal (también conocida como la pose del elemento terminal), la cinemática inversa consiste en obtener las configuraciones asociadas a dicha pose. La importancia de la cinemática inversa se basa en el papel que juega en la programación y el control de robots serie. Además, dado que para cada pose la cinemática inversa tiene hasta dieciséis soluciones diferentes, el objetivo es encontrar un método cerrado para resolver este problema, ya que los métodos cerrados permiten obtener todas las soluciones en una forma compacta. El objetivo principal de la tesis doctoral es contribuir a la solución de ambos problemas. En particular, con respecto al problema de las singularidades, se presenta un nuevo método para su identificación basado en el álgebra geométrica. Además, el álgebra geométrica permite definir una distancia en el espacio de configuraciones del robot que permite la definición de distintos algoritmos para evitar las configuraciones singulares. Con respecto a la cinemática inversa, los robots redundantes se reducen a robots no-redundantes mediante la selección de un conjunto de articulaciones, las articulaciones redundantes, para después parametrizar sus variables articulares. Esta selección se realiza a través de un análisis de espacio de trabajo que también proporciona un límite superior para el número de diferentes soluciones en forma cerrada. Una vez las articulaciones redundantes han sido identificadas, varios métodos en forma cerrada desarrollados para robots no-redundantes pueden aplicarse a fin de obtener las expresiones analíticas de todas las soluciones. Uno de dichos métodos es una nueva estrategia desarrollada usando el modelo conforme del álgebra geométrica tridimensional. En resumen, la tesis doctoral proporciona un análisis riguroso de los dos problemas cinemáticos mencionados anteriormente, así como nuevas estrategias para resolverlos. Para ilustrar los diferentes resultados presentados en la tesis, la memoria contiene varios ejemplos al final de cada uno de sus capítulos.
Šimková, Kristýna. "Návrh SW pro řízení delta robotu". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400926.
Pełny tekst źródłaKozubík, Jiří. "Experimentální robotizované pracoviště s delta-robotem". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229633.
Pełny tekst źródłaFabricius, Maximilian Hieronymus. "Kinematics across bulge types a longslit kinematic survey and dedicated instrumentation". Diss., lmu, 2012. http://nbn-resolving.de/urn:nbn:de:bvb:19-144409.
Pełny tekst źródłaCentea, Dan Elbestawi Mohamed A. A. "Design, kinematics and dynamics of a machine tool based on parallel kinematic structure". *McMaster only, 2004.
Znajdź pełny tekst źródłaKöhn, Daniel. "Kinematics of fibrous aggregates". [S.l. : s.n.], 2000. http://ArchiMeD.uni-mainz.de/pub/2000/0027/diss.pdf.
Pełny tekst źródłaEvans, Dafydd Wyn. "Galactic structures and kinematics". Thesis, University of Cambridge, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.279712.
Pełny tekst źródłaShih, Yi-Fen. "Assessment of patellofemoral kinematics". Thesis, Imperial College London, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.397798.
Pełny tekst źródłaPetrou, Georgios. "Kinematics of cricket phonotaxis". Thesis, University of Edinburgh, 2012. http://hdl.handle.net/1842/7944.
Pełny tekst źródłaAbreu, Manuel P. "Kinematics under wind waves". Thesis, Monterey, California. Naval Postgraduate School, 1989. http://hdl.handle.net/10945/27115.
Pełny tekst źródłaHallberg, Robert. "Target Classification Based on Kinematics". Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81216.
Pełny tekst źródłaJagirdar, Saurabh. "Kinematics of curved flexible beam". [Tampa, Fla] : University of South Florida, 2006. http://purl.fcla.edu/usf/dc/et/SFE0001853.
Pełny tekst źródłaBajer, Konrad. "Flow kinematics and magnetic equilibria". Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305335.
Pełny tekst źródłaAmadi, Hippolite Onyejiaka. "Glenohumeral kinematics and ligament loading". Thesis, Imperial College London, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.437763.
Pełny tekst źródłaAltman, Mary Ellen 1962. "SPEECH BREATHING KINEMATICS IN WOMEN". Thesis, The University of Arizona, 1986. http://hdl.handle.net/10150/277081.
Pełny tekst źródłaWalker, Simon M. "Insect flight : kinematics and aerodynamics". Thesis, University of Oxford, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.670125.
Pełny tekst źródłaZugel, John Martin. "Prolog implementation in robot kinematics". Thesis, Virginia Tech, 1985. http://hdl.handle.net/10919/44674.
Pełny tekst źródłaThe purpose of this study is to implement the advantages of the relatively new field of expert systems to robot kinematics. The research presented in this thesis illustrates the progress in combining the two fields. An expert system used to solve the kinematic equations of general purpose robots is presented along with some examples.
Master of Science
Олємской, Олександр Іванович, Александр Иванович Олемской, Oleksandr Ivanovych Oliemskoi, Ольга Володимирівна Ющенко, Ольга Владимировна Ющенко, Olha Volodymyrivna Yushchenko, Анна Юріївна Бадалян, Анна Юрьевна Бадалян i Anna Yuriivna Badalian. "Kinematics of nonextensive statistical systems". Thesis, Видавництво СумДУ, 2011. http://essuir.sumdu.edu.ua/handle/123456789/12717.
Pełny tekst źródłaNanua, Prabjot. "Direct kinematics of parallel mechanisms". The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1335458031.
Pełny tekst źródłaPeck, Christopher Charles. "An assessment of condylar kinematics". Connect to full text, 1995. http://hdl.handle.net/2123/4208.
Pełny tekst źródłaIncludes tables. Title from title screen (viewed Apr. 16, 2009) Submitted in fulfilment of the requirements for the degree of Master of Science in Dentistry, Faculty of Dentistry. Includes bibliography. Also available in print form.
Peck, Christopher. "An assessment of condylar kinematics". Thesis, The University of Sydney, 1995. http://hdl.handle.net/2123/4208.
Pełny tekst źródłaPeck, Christopher. "An assessment of condylar kinematics". University of Sydney, 1995. http://hdl.handle.net/2123/4208.
Pełny tekst źródłaMost studies of condylar movement are based on the movement of an arbitrary condylar point. As the condyle is a 3-dimensional body which undergoes complex rotations and translations in function, the movement of one point in the vicinity of the condyle may not accurately represent condylar movement. The aims of this investigation were to determine in human subjects, during open-close and excursive jaw movements, the movement patterns of arbitrary and anatomical condylar points; and whether the trajectory of a single selected point can accurately reflect the movement of the condyle. In 44 subjects, condylar point movements were recorded with an opto-electronic tracking system (JAWS3D), which recoded the position of three light-emitting diodes attached to each dental arch. The primary point, selected to represent movement of the condyle, was 15 mm medial to the palpated lateral condylar pole, parallel to the Frankfort horizontal plane. Additionally, four points were selected along orthogonal axes in the sagittal plane, and four in the horizontal plane: each was 5 mm from the primary point. In two subjects, the mandibular condyles were imaged by computerised tomography (CT) and the lateral and medial poles, most superior, anterior and posterior points of their condyles were selected. The trajectories of each point were compared for each subject for the mandibular movements listed above. Variability in both path form and dimension was noted between the subjects for all mandibular movements. For example, in an open-close mandibular movement the condylar point translation varied in the antero-posterior direction between 1.8-22.8 mm, and in the supero-inferior direction between 4.5-12.1 mm. For each subject, the pathway of each point was different in form and dimension from that subject’s other condylar points for the open-close, and ipsilateral lateral mandibular movements. For the open-close movement, in only four of the 44 subjects were the arbitrary point traces similar in form within a subject; and the tracings of each subject’s condylar points showed, on average, a 3.2 mm difference in maximal horizontal (i.e. antero-posterior) translation and 2.9 mm in maximal vertical (i.e. supereo-inferior) translation. For contralateral lateral mandibular movements, the path form and dimension in the sagittal plane of the condylar points were similar within a subject; however the lateral component showed variability in path length for the different points within a subject. The pathways of the condylar points for a protrusive movement displayed the most similarity within a subject, with an average of 0.4 mm variation in maximal horizontal or vertical displacement between each subject’s arbitrary condylar points’ tracings. The anatomical condylar points of the two subjects showed variability between and within each subject. For these two subjects the trajectories of the arbitrary condylar points moved in directions similar to the anatomical points of all movements except for the ipsilateral lateral mandibular movement, where in one subject, the arbitrary condylar points moved posteriorly, inferiorly and laterally whereas the anatomical points moved anteriorly, inferiorly and laterally. There is much variability in both form and dimension for mandibular condylar movement between human subjects. There is also considerable variability within subjects in the form and dimension of condylar point movement, whether arbitrary or anatomical, depending on the point selected. By inference therefore, a single condylar point cannot accurately reflect the movement of the mandibular condyle, except perhaps for a protrusive mandibular movement. Multiple mandibular points are therefore required to describe the motion of the condyle. In an ipsilateral lateral mandibular movement, for example, an arbitrary point may move in a completely different direction to the mandibular condyle, and so anatomically derived condylar points should be utilised to assess accurately condylar movement.
Peck, Christopher Charles. "An Assessment Of Condylar Kinematics". Thesis, The University of Sydney, 1988. http://hdl.handle.net/2123/4982.
Pełny tekst źródłaKašėta, Julius. "Jaunių ir suaugusiųjų plaukikų – vyrų starto atlikimo ypatumų lyginamoji analizė". Bachelor's thesis, Lithuanian Academic Libraries Network (LABT), 2014. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2014~D_20140619_113540-43290.
Pełny tekst źródłaResearch object – kinematic parameters features of start performance in 50 and 100 meters freestyle men swimming. Research aim – determine kinematic parameters features of best European swimmers in 50 and 100 meters freestyle swimming. Hypothesis − distance traveled under the water overcoming features has same influence for adult and junior swimmers 50 and 100 meters freestyle swimming. Objectives of the study: 1. Assess kinematic parameters features of best European swimmers in 50 and 100 meters freestyle swimming. 2. Compare kinematic parameters features of best European Adult and Junior swimmers in 50 and 100 meters freestyle swimming. 3. Assess kinematic parameters features interaction between each other and sport results in 50 and 100 meters freestyle swimming. Conclusions: 1. The time that it takes to for the swimmer to leave the block and distance traveled under the water of European Adult and Junior swimmers in 50 and 100 meters freestyle swimming does not differ significantly. 2. Adults of European championship were better and significantly correlated in all researched parameters except distance traveled under water in 50 m freestyle. 3. Distance traveled under water negatively influenced start distance speed of both adults and juniors in 100 meters and adults in 50 meters freestyle swimming.
Fabricius, Maximilian Hieronymus [Verfasser], i Ralf [Akademischer Betreuer] Bender. "Kinematics across bulge types : a longslit kinematic survey and dedicated instrumentation / Maximilian Hieronymus Fabricius. Betreuer: Ralf Bender". München : Universitätsbibliothek der Ludwig-Maximilians-Universität, 2012. http://d-nb.info/1023930382/34.
Pełny tekst źródłaList, Renate Barbara. "Joint kinematics of unconstrained ankle arthroplasties /". [S.l.] : [s.n.], 2009. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=18404.
Pełny tekst źródłaLader, Pål Furset. "Geometry and Kinematics of Breaking Waves". Doctoral thesis, Norwegian University of Science and Technology, Faculty of Engineering Science and Technology, 2002. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-69.
Pełny tekst źródłaThe objective of this thesis is to experimentally study different breaking waves cases. This is done by measuring in detail the free surface geometry and the internal kinematics of the waves as they approach breaking. Three principal wave cases were chosen for the study: A plunging breaker, a spilling breaker, and an intermediate breaker.
A major part of this work is the design, construction and building of a wave laboratory. The laboratory contains a glass wall waveflume which is 13.5m long, 1m deep and 0.6m wide, as well as equipment for measuring both the wave kinematics and geometry optically. The wave kinematics is measured using the Particle Image Velocimetry (PIV) method, while the wave profile geometry is measured using image analysis (space domain geometry), as well as standard wave gauges (time domain geometry).
The analysis of both the wave kinematics and geometry is done using parameters describing quantitatively important features in the wave evolution. The surface geometry is described using the commonly known zero-downcross parameters, and in addition, new parameters are suggested and used in the study, The kinematics are described by a set of four parameters suggested for the first time in this work. These parameters are: Velocity at the surface, velocity at the still water line (z = 0), mean velocity direction, and local wave number. The purpose of these parameters is to give a better understanding of the space and time domain development of the kinematics, and they appear to be a reasonable compromise between simplicity and accuracy.
The results presented here represents a thorough and detailed mapping of the breaking process. Much data is gathered and analysed, and throughout this thesis it is sought to present the data in the most intuitive way, so that other investigations may benefit from it.
McNamee, Louis P. "Photogrammetric calibration of mobile robot kinematics". Thesis, University of Ottawa (Canada), 2003. http://hdl.handle.net/10393/26522.
Pełny tekst źródłaTingley, Susan Joanne. "Articulatory kinematics in adductor spasmodic dysphonia". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape9/PQDD_0004/MQ46182.pdf.
Pełny tekst źródłaNarasimhan, Sundar. "Dexterous Robotic Hands: Kinematics and Control". Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/6834.
Pełny tekst źródłaKenyon, C. M. P. "The kinematics of the rib cage". Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.334132.
Pełny tekst źródłaBouroullec, Renaud. "Synsedimentary fault kinematics and stratigraphic response". Thesis, Imperial College London, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268915.
Pełny tekst źródłaWilson, David Robert. "Three-dimensional kinematics of the knee". Thesis, University of Oxford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.320163.
Pełny tekst źródłaSansom, A. E. "Kinematics and structure of radio ellipticals". Thesis, University of Sussex, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.380532.
Pełny tekst źródłaDickson, Ruth. "The kinematics of human tool use". Thesis, Bangor University, 2018. https://research.bangor.ac.uk/portal/en/theses/the-kinematics-of-human-tool-use(ae098f00-5385-4e16-9d01-60c0d173452c).html.
Pełny tekst źródłaEberman, Brian Scott. "Whole-arm manipulation : kinematics and control". Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14428.
Pełny tekst źródłaIncludes bibliographical references.
Support provided in part by the Office of Naval Research University Initiative Program under the Office of Naval Research. N00014-86-K-0685 Support provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research. N00014-85-K-0124
by Brian Scott Eberman.
M.S.
Penney, Camilla Emily. "Kinematics and dynamics of continental deformation". Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/278649.
Pełny tekst źródłaWarner, Martin Bryan. "Measurement and classification of scapular kinematics". Thesis, University of Southampton, 2011. https://eprints.soton.ac.uk/210967/.
Pełny tekst źródłaPandit, Hemant Govind. "Sagittal plane kinematics after knee arthroplasty". Thesis, University of Oxford, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.510203.
Pełny tekst źródłaEftaxiopoulou, Theofano. "Measuring elbow kinematics in cricket bowling". Thesis, Imperial College London, 2011. http://hdl.handle.net/10044/1/9133.
Pełny tekst źródłaLong, Manda Marie. "Kinematics of the fingers during typing". Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-06162009-063244/.
Pełny tekst źródłaEmiris, Ioannis Z. "Sparse elimination and applications in kinematics /". Berkeley, CA US : Univ. of California at Berkeley, 1994. http://www-sop.inria.fr/saga/personnel/Ioannis.Emiris/index.html.
Pełny tekst źródłaSzyszka, Cezary Tadeusz. "The kinematics of selected planetary nebulae". Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/the-kinematics-of-selected-planetery-nebulae(cf2aa518-fd62-4b9e-8e1c-885edea52ceb).html.
Pełny tekst źródłaPetruška, Bohumil. "Lineární jednotka s hydraulickým pohonem pro robot s paralelní kinematickou strukturou". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230328.
Pełny tekst źródłaНалимова, П. Н., i А. В. Скорик. "Вариант представления основных понятий кинематики в блоковой форме". Thesis, Сумский государственный университет, 2015. http://essuir.sumdu.edu.ua/handle/123456789/39908.
Pełny tekst źródłaVacek, 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.
Pełny tekst źródłaVítek, 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.
Pełny tekst źródłaLarsson, Fredrik. "Visual Servoing Based on Learned Inverse Kinematics". Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8710.
Pełny tekst źródłaInitially an analytical closed-form inverse kinematics solution for a 5 DOF robotic arm was developed and implemented. This analytical solution proved not to meet the accuracy required for the shape sorting puzzle setup used in the COSPAL (COgnitiveSystems using Perception-Action Learning) project [2]. The correctness of the analytic model could be confirmed through a simulated ideal robot and the source of the problem was deemed to be nonlinearities introduced by weak servos unable to compensate for the effect of gravity. Instead of developing a new analytical model that took the effect of gravity into account, which would be erroneous when the characteristics of the robotic arm changed, e.g. when picking up a heavy object, a learning approach was selected.
As learning method Locally Weighted Projection Regression (LWPR) [27] is used. It is an incremental supervised learning method and it is considered a state-ofthe-art method for function approximation in high dimensional spaces. LWPR is further combined with visual servoing. This allows for an improvement in accuracy by the use of visual feedback and the problems introduced by the weak servos can be solved. By combining the trained LWPR model with visual servoing, a high level of accuracy is reached, which is sufficient for the shape sorting puzzle setup used in COSPAL.
Xu, Qing Song. "Kinematics, dynamics and control of parallel robots". Thesis, University of Macau, 2004. http://umaclib3.umac.mo/record=b1446180.
Pełny tekst źródłaBull, Anthony Michael James. "Measurement and computer simulation of knee kinematics". Thesis, Imperial College London, 1999. http://hdl.handle.net/10044/1/8379.
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