نتایج جستجو برای: forward kinematics problem fkp
تعداد نتایج: 1003462 فیلتر نتایج به سال:
This paper presents a simulation framework for evolution on uneven terrains for a wheeled mobile robot such as a synchronous drive robot. The framework lends itself as a tool capable of solving various problems, such as forward kinematic based evolution, inverse kinematic based evolution, path planning and trajectory tracking. This framework becomes particularly useful when we understand that t...
The inverse kinematics problem in robotics requires the determination of the joint angles for a desired position of the end-effector. For this underconstrained and ill-conditioned problem we propose a solution based on structured neural networks that can be trained quickly. The proposed method yields multiple and precise solutions and it is suitable for real-time applications. © 1999 Elsevier S...
In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula. Position and orientation output error forward kinematics model was obtained by the differential transformation on the basis of inverse kinematic solution of the position. The ...
Spherical linkages, having rotational joints whose axes coincide in a common center point, are sometimes used in multi-degree-of-freedom robot manipulators and in onedegree-of-freedom mechanisms. The forward kinematics of parallel-link robots, the inverse kinematics of serial-link robots and the input/output motion of single-degree-offreedom mechanisms are all problems in displacement analysis....
Grasp planning is a key problem in robotics. One of the goals is to find suitable forces and torques for an object through contact points for a robotic hand to grasp that object. At a broad level, there are two classes of grasp planning algorithms that are used to determine the relationship between the contact points and finger joint positions. The forward methods simulate the motion of the han...
Interaction using depth-sensing cameras has many applications in computer vision and spatial manipulation tasks. We present a user study that compares a short-range depth-sensing camera-based controller with an inversekinematics keyboard controller and a forward-kinematics joystick controller for two placement tasks. The study investigated ease of use, user performance and user preferences. Tas...
In this report, we present the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-efector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an itemtive pmedure employing Newton-Rap...
In this paper, a novel spatial six-degree-of freedom parallel manipulator actuated by three base-mounted partial spherical actuators is studied. This new parallel manipulator consists of a base platform and a moving platform, which are connected by three legs. Each leg of the manipulator is composed of a spherical joint, prismatic joint and universal joint. The base-mounted partial spherical ac...
This paper aims to consistently blend different types of motions after establishing automatic correspondence between their salient features. Framespace interpolation is a consistent forward kinematics motion transition technique that uses weights from input spline curves to warp and blend motions. Its application has been limited to interactive interpolation of two or four cyclic motions. Thoug...
Aiming at one kind of 3-PRS parallel robot, the study develops a toolbox in MATLAB. The toolbox includes functions for forward kinematics, inverse kinematics, velocity kinematics, error analysis, schematic representation, and so on. The architecture of the 3-PRS robot is introduced firstly. The instructions of the functions, developing procedure and main algorithms are presented secondly. The t...
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