Abstract: The kinematic sketch of the heading machine’s cutting part is plotted and the kinematic relation is analyzed. The pose-attitude model of the cutting part is derived from the geometry method, and the velocity and acceleration relations are derived by the differential geometry method. According to the recurrence relation among the pose-attitude, the velocities and the accelerations, the...

This paper presents a kinematic model of the human arm in which the workspace of the elbow is modeled as a triangular B ezier spline surface. It is also explained how this model is used for solving forward and inverse kinematics in computer animation systems. In order to solve inverse kinematics problems, it is necessary to nd a curve on the surface modeling the elbow workspace. This curve is o...

A study of the mechanical behaviour of a composite ®lm-substrate material during the hardness test is undertaken. An analytical calculation is proposed applying the kinematic model to the case of the coated spherical cavity problem. The aim of this paper is to discuss the parameters that in ̄uence the mechanical behaviour, in order to understand the observed experimental results. The parameters ...

According to the difficulty of marker based motion reconstruction of human torso movements a reduced kinematic formulation of the human spine is introduced, which describes the movement of the first thoracic vertebra in relation to the pelvis. The formulation is for implementation in a multibody model of the human body. As a result the formulation offers convenience in marker based motion captu...

We present inverse kinodynamics (IKD), an animator friendly kinematic workflow that both encapsulates short-lived dynamics and allows precise space-time constraints. Kinodynamics (KD), defines the system state at any given time as the result of a kinematic state in the recent past, physically simulated over a short temporal window to the present. KD is a well suited kinematic approximation to a...

This paper concerns the analysis of the screw theory-based kinematic modeling in order to ease the programming process. To do so, an object-oriented computational framework is developed from this analysis. Screw theory and related tools are well used in motion analysis of open and closed kinematic chains, typical of robotic manipulators, in an uniform and systematic way. Their use in the invers...

Purpose: This study tries to develop a simulation model of six degree freedom for Faraman AM1 welding robot using CATIA V5 and compares with the computed kinematic model for robotic welding. The error varification of simulated model and kinematics of the robot is also being carried out. Design/methodology/approach: CATIA (Computer Aided Three dimensional Interactive Application) is a multi-plat...

The main problems faced by a dynamic model within a Kalman filter occur when the system experiences unexpected dynamic conditions, a change in data acquisition rate, or when the dynamics of the system are non-linear. To minimize the errors produced from dynamic modeling in unusual conditions, an extended dynamic model is developed in this paper. This paper demonstrates the usefulness of the ext...

An abstract recurrent neural network trained by an unsupervised method is applied to the kinematic control of a robot arm. The network is a novel extension of the Neural Gas vector quantization method to local principal component analysis. It represents the manifold of the training data by a collection of local linear models. In the kinematic control task, the network learns the relationship be...

This paper considers the relationship between second order multiple model systems and first order multiple model systems. Such a relationship is important to, among other things, studying path planning for mechanical control systems. This is largely due to the fact that the computational complexity of a path planning problem rapidly increases with the dimension of the state space, implying that...