Many applications in computer animation portray the motion of a human arm and torso. Often such applications can benefit from a combination of Inverse (IK) and Forward (FK) Kinematics controls to manipulate the arms of the model. The human arm is a kinematic chain with seven degrees of freedom. The previous analytic solution to this kinematic chain gives highly detailed IK controls, but problem...

The human nervous system is equipped with a forward kinematics model, which calculates the hand positions using proprioceptive information. Since signi2cant evidence suggests that the forward dynamics model is used for general motion control, the forward kinematics model also seems to be used for the control of visually guided reaching. However, we believe that the forward kinematics model play...

To meet the objectives of many future missions, robots will need to be adaptable and reconfigurable. A concept for such a robotic system has been proposed previously based on using a large number of simple binary actuators. Previous researchers have addressed some of the issues brought up by robots with a few binary actuators. This paper examines the computational feasibility of controlling and...

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (pr...

Robots promise to enhance minimally-invasive surgery, but flexion of the thin instrument shaft introduces error into models of the robot kinematics. Visual or electromagnetic tracking of the instrument tip provides correct forward kinematics, but uncertainty in shaft bending and port location leaves residual errors in inverse kinematics. These errors can cause incorrect motions that preclude th...

Abstract In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics, the proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of jointpositions allowing a specific point of the system to achieve a target position. In IK-FA, the Fireflies positions are assumed to be a possible solution for joint...

This article presents the inverse and forward pose and rate kinematics solutions for a novel 6-dof platform manipulator, actuated by two base-mounted spherical actuators. The moving platform is connected to the fixed base by two identical SPU serial chain legs. The S-joint is active, and the remaining two joints in each chain are passive. An analytical solution is presented for the inverse pose...

This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of Artigo submetido em 10/03/2011 (Id.: 01293) Revisado em 27/05/2011 Aceito sob recomendação do Editor Associado Prof. Carlos Roberto Minussi explicitly using the constraint equatio...

Flexible needle insertion for percutaneous therapies is formulated in this paper as a trajectory planning problem of a linear beam, supported by virtual springs. Using this simplified model, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the inverse kinematics, the required needle basis trajectory can...

This paper provides an estimation model for calibrating the kinematics of manipulators with a parallel geometrical structure. Parameter estimation for serial link manipulators is well developed, but fail for most structures with parallel actuators, since the forward kinematics is usually not analytically available for these. We extend parameter estimation to such parallel structures by developi...