Papers by Keyword: Inverse Kinematic

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Authors: Fang Liu, Xian Mei Liu
Abstract: The movement of beam pumping unit is a kind of involute moment. The exiting virtual reality engines provide translation, rotation and zooming, which belong to the category of the forward kinematics. It is difficult to simulate the beam pumping unit movement based on forward kinematics. The paper first analyzes the motion rule of beam pumping unit, and then introduces the forward kinematics method (FK) and the inverse kinematics method (IK).According IK, the paper establishes the motion model of beam pumping unit, in the motion model the donkey head is seen as the end effector.The paper finally realizes 3D virtual simulation of beam pumping unit motion based on IK. The method of using IK to simulate the motion of beam pumping unit is is proved to be correct by contrasting the simulation results between using FK and IK.
Authors: Tran Duc Tang
Abstract: This paper presents a postprocessor for five-axis milling machine that capable of converting CL (cutter location) data to machine control data (NC program). The proposed postprocessor method is based on inverse kinematics transformation and postprocessor module is programmed in Visual Basic language. The Deckel Maho DMU 50 eVoluion five-axis machine with two rotary axes (B and C) on the table is modeled and verified in software VERICUT® to validate the NC data generated by proposed postprocessor.
Authors: Wei Song, Guang Hu
Abstract: The Jacobian inverse(JI) method is a well-known algorithms used for inverse kinematics solutions in motion generation. JI algorithm can be easily implemented, but it can generate singularity problems and it is not straight forward to implement constraints in the JI method. This paper presents a novel gradient projection algorithm that can convert the inverse kinematics problem to a constraint nonlinear programming problem. Meanwhile, by changing the programming time of each frame, local linearization of the nonlinear function and limited interval computing can be achieved simultaneously. Experimental results are presented to show the performance benefits of the proposed algorithm over JI methods.
Authors: Xi Guang Huang, Guang Pin He, Duan Ling Li
Abstract: In this paper a new algorithm to compute all the closed-form inverse kinematics solutions of a spatial serial robot. Based on the method, A 16th degree univariate polynomial of the spatial serial robot is obtained without factoring out or deriving the greatest common divisor. We also obtain all the closed-form solutions for the inverse kinematics of the robot. Finally a numerical example is given to demonstrate the algorithm process.
Authors: Xian Hua Li, Shi Li Tan, Wu Xin Huang
Abstract: This paper describes a household service robot with two lightweight arms and a trinocular vision sensor. According to DH convention, the coordinate system of two arms is established, and position and orientation of the hand is computed. The inverse kinematics of the arm is solved with geometric and algebraic solution methods. By the trinocular vision sensor, robot can recognize the bottle and get its 3-D space coordinate. Through experiments, both correctness of the algorithm and stability of the robot control system are validated.
Authors: Jong Gyu Lee, Sang Ryong Lee, Choon Young Lee, Seung Han Yang
Abstract: In this paper, a parallel manipulator is comprised of sliders and links. The end-effector has an orientation. Sliders execute a linear motion along parallel guidelines and make the connected links rotate. We derived displacement, velocity and acceleration from kinematic analysis of this manipulator using direct and inverse kinematics,found constraint conditions and proposed the verification algorithm of constraint conditions. With the result from the simulation, we found that there was a local workspace where the manipulator cannot carry out a series of link motion.
Authors: Zhi Lan, Zhen Liang Li, Ya Li
Abstract: A novel 5-DOF rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the method of screw theory, the rehabilitation robot’s kinematics model was set up according to the 5-DOF rehabilitation robot for upper limb. For the kinematics model set up by the method of screw theory, the inverse kinematics calculation was realized by using Paden-Kahan sub-problem method and algebraic elimination method, and the result of explicit solution was given. It offered reliance for the actual intellectual control of the position and speed about the rehabilitation robot.
Authors: Andrea E. del Grosso, Paolo Basso
Abstract: Deployable structures have been developed for many different applications from space to mechanical and civil engineering. In the paper the general concepts of deployable structures, combining static and kinematic behaviour are presented first, also discussing their relationships with adaptive and variable geometry structures. Reported applications to civil engineering and architecture are then reviewed and categorized. The characteristics of the following systems are summarized : 1. Pneumatic Structures. 2. Tensegrity Structures. 3. Scissor-like Structures. 4. Rigid Foldable Origami. 5. Mutually Supported Structures. The problems of form finding, direct and inverse kinematics, actuation and self-deployability for some of the most interesting among the above structural types are then discussed in the paper. Some examples involving rigid foldable origami and mutually supported structures are finally presented.
Authors: Kang Luo, Cheng Zhong Deng
Abstract: Presented in this paper are a prototype design for a cable-suspended robot mechanism with two dimensions of free movement, a position feedback strategy, and an embedded control system. In addition, a novel positioning metrology is also proposed such that the Jacobian Matrix can be formed directly through measurement, which contributes greatly to the robot path planning. This cable-suspended robot can be applied to firefighting in high-rise buildings as a novel approach to providing rescue capabilities beyond those of traditional aerial ladders.
Authors: Rattawut Vongvit, Hai Tao Zhu
Abstract: This paper presents the control of the 6-DOF parallel manipulator using Lagrangian equation. The 6-DOF parallel manipulator are composed of fix base and moveable platform are couple by the actuators. The dynamic equations express by Lagrangian equation, the structure of the 6-DOF parallel manipulator and kinematics and are explains in this paper. The 6-DOF parallel manipulator using Lagrangian equation are accurate and good ability.
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