The present paper discusses the co-simulation methodology for a robotic system, which is used in the spray pyrolysis process on a planar surface. Robot bodies, joints and rotors are modelled as a rigid multi-body system. The MBS software environment ADAMS was used to develop the dynamic model of a robotic system, while the control system model is developed in MATLAB/Simulink. The purpose is to ...

This research was conducted with the aim of improving and strengthening quality existing Human Resources in developing Small Medium Industries (IKM), namely batik industry Jatipelem Village, Diwek District, Jombang Regency. uses a qualitative approach case study method. The main problems found this are absence special design characteristics for batik, lack understanding concept organizational m...

The description of a serial kinematic chain should be unique, unambiguous, simple to determine, easy to use and well-behaved when small changes are made in the arrangement of the elements of the chain. The notation currently in use, introduced by Denavit andHartenberg, does not satisfy all of these criteria. It involves arbitrary choices, so that more than one description may apply to a given k...

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...

This chapter focuses on redundancy resolution schemes, i. e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are ...

In previous work, we calculated overapproximative sets of human arm positions using a kinematic parameterisation of the human arm, for use in a formally-verifying robot trajectory planner. This has the drawback that inverse kinematics calculations are computationally expensive. In this technical report, we present another method, not requiring inverse kinematics but using the maximum Cartesian ...

In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character having controller and manipulator based rig for animation within any 3D modeling and animation software. The seamless matching has been achieved through the us...

Engineers have for some time known that singularities play a significant role in the design and control of robot manipulators. Singularities of the kinematic mapping, which determines the position of the end–effector in terms of the manipulator’s joint variables, may impede control algorithms, lead to large joint velocities, forces and torques and reduce instantaneous mobility. However they can...

In this paper, we propose to create a rich database of synthetic time series of 3D echocardiography (US) images using simulations of a cardiac electromechanical model, in order to study the relationship between electrical disorders and kinematic patterns visible in medical images. From a real 4D sequence, a software pipeline is applied to create several synthetic sequences by combining various ...

It is shown that ambipolar diffusion as a toy nonlinearity leads to very similar behaviour of large scale turbulent dynamos as full MHD. This is demonstrated using both direct simulations in a periodic box and a closure model for the magnetic correlation functions applicable to infinite space. Large scale fields develop via a nonlocal inverse cascade as described by the alpha-effect. However, b...