A variety of techniques have been proposed to manipulate objects in three dimensions using only a two-dimensional input device, such as a standard mouse. Some of these methods lacked full six degree of freedom (DOF) control, instead manipulating only the two DOF orientation of the object. Others provide six DOF control at the cost of complex user operations and complex implementations. We exten...

This paper focuses firstly, on the kinematics structure required for a humanoid service robot arm and secondly, on transferring human motion obtained from visual motion capture to the humanoid arm. The kinematics structure of a ten Degree of Freedom (DOF) humanoid arm which has a two DOF shoulder girdle and has a four DOF glenohumeral joint is presented. A method of obtaining the sternum positi...

Abstract. To absorb the vibration of car body high-speed train in multiple degrees freedom, a multi-degree freedom dynamic absorber (MDOF DVA) is proposed. Installed under body, natural frequency MDOF DVA from each DOF can be designed as for every single degree body. Hence, 12-DOF model including main system and an established, principle Multi-DOF absorption analyzed by combining design method ...

The paper presents aspects concerning the tuning of two-degree-of-freedom (2-DOF) fuzzy controllers focused on 2-DOF PI-fuzzy controllers and 2-DOF PIDfuzzy controllers. 2-DOF Mamdani and Takagi-Sugeno fuzzy control system structures are offered. The tuning is based on mapping the parameters of the linear PI and PID controllers to the parameters of the fuzzy controllers in terms of the modal eq...

This paper determines most common model of in-pipe robots to derive its degree of freedom in order to compare with the necessary degree of freedom required for a system to move inside pipelines freely in order to derive analytical reason for losing control of in-pipe robots at branched pipe. DOF of most common mechanism in in-pipe robots can be calculated by considering the robot as a parallel ...

in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

Degree of freedom (DoF) region provides an approximation of capacity region in high signal-to-noise ratio (SNR) regime, while sum DoF gives the scaling factor. In this correspondence, we analyse the DoF region and sum DoF for unicast layered multi-hop relay wireless networks with arbitrary number of source/destination/relay nodes, arbitrary number of hops and arbitrary number of antennas at eac...

Abstract. This paper presents a novel kinematics architecture with 4 DoFs (degrees of freedom) intended to be used as haptic interface for laparoscopic surgery. The proposed is result an association serial and parallel chains, each one handling part the whole device DoF. chain allows handle translation self-rotation handles two tilt motions, this in disjoint way natural gesture surgeon. hybrid-...

We are developing a novel autonomous mobile robotic system to emulate full 6 degree of freedom relative motion at high fidelity. An omni-directional base provides large 3-DOF motion with moderate precision, while a micron-class Stewart platform on top provides high precision, limited 6-DOF motion. This multi-vehicle robotic system is designed to accommodate multiple untethered vehicles simultan...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...