Kinematics of Serial Mechanisms at a Singular Point.
نویسندگان
چکیده
منابع مشابه
Kinematics of Serial Manipulators
This article deals with the kinematics of serial manipulators. The serial manipulators are assumed to be rigid and are modeled using the well-known Denavit-Hartenberg parameters. Two well-known problems in serial manipulator kinematics, namely the direct and inverse problems, are discussed and several examples are presented. The important concept of the workspace of a serial manipulator and the...
متن کاملPerformance Prediction Network for Serial Manipulators Inverse Kinematics Solution Passing Through Singular Configurations
This paper is devoted to the application of Artificial Neural Networks (ANN) to the solution of the Inverse Kinematics (IK) problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK solution. Given the desired trajectory of the end effector of the manipulator...
متن کاملClinical evaluation of serial blood processing at point of care.
The Axial Separation Module (ASM), which separates whole-blood specimens serially in Axial Process Containers (APC), was evaluated for clinical performance at the University of Virginia Health Sciences Center (UVA HSC) in a community-based outpatient laboratory (North Ridge Clinic). We hypothesized that moving the task of blood separation to point of care would reduce specimen turnaround time w...
متن کاملInverse Kinematics of Functionally-Redundant Serial Manipulators: A Comparaison Study
Kinematic redundancy of a pair of manipulator-task can be classified into intrinsic and functional redundancies. This paper compares two different approaches to solve the inverse kinematics of functionally-redundant serial manipulators. First, the augmented approach add a virtual joint to the manipulator in order to render the Jacobian matrice underdetermined and project a secondary task onto t...
متن کاملSingular configurations and direct kinematics of a new parallel manipulator
We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1994
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.12.616