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Journal articles on the topic 'Inverse kinetic task'

Author: Grafiati

Published: 5 June 2025

Last updated: 1 August 2025

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1

Reips, Louise, Martin Burger, and Ralf Engbers. "Towards dynamic PET reconstruction under flow conditions: Parameter identification in a PDE model." Journal of Inverse and Ill-posed Problems 26, no. 2 (2018): 185–200. http://dx.doi.org/10.1515/jiip-2015-0016.

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AbstractThe aim of this paper is to discuss potential advances in PET kinetic models and direct reconstruction of kinetic parameters. As a prominent example we focus on a typical task in perfusion imaging and derive a system of transport-reaction-diffusion equations, which is able to include macroscopic flow properties in addition to the usual exchange between arteries, veins, and tissues. For this system we propose an inverse problem of estimating all relevant parameters from PET data. We interpret the parameter identification as a nonlinear inverse problem, for which we formulate and analyze

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Flanagan, Sean P., and George J. Salem. "The Validity of Summing Lower Extremity Individual Joint Kinetic Measures." Journal of Applied Biomechanics 21, no. 2 (2005): 181–88. http://dx.doi.org/10.1123/jab.21.2.181.

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In the analysis of human movement, researchers often sum individual joint kinetics to obtain a single measure of lower extremity function. The extent to which these summed measures relate to the mechanical objectives of the task has not been formally validated. The criterion validity of these measures was established with comparisons to the mechanical objective of two multiple-joint tasks. For the Work task 18 participants performed a loaded barbell squat using 4 resistances while instrumented for biomechanical analysis. For the Power they performed 2 predetermined amounts of work at both self

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Kontsevoi, S., I. Bredykhin, and M. Kontseva. "GENERATION OF A DIFFERENTIAL EQUATIONS SYSTEM TO SIMULATE THE KINETICS OF A COMPLEX CHEMICAL PROCESS." Scientific heritage, no. 93 (July 22, 2022): 103–6. https://doi.org/10.5281/zenodo.6882666.

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The solution of the inverse kinetic task based on formal kinetics was not often implemented in the past due to the need for a large volume of calculations, which even with the advent of computers were not performed at an acceptable rate. Such a situation is related to the computational nature of the problems, which require a huge number of solution variants. The appearance of adaptive self-learning algorithms and corresponding software allows today to solve such problems in a reasonable time, although the stage of algorithm learning can take minutes and even hours on modern computers. The prog

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Costes, Antony, Nicolas A. Turpin, David Villeger, Pierre Moretto, and Bruno Watier. "Influence of Position and Power Output on Upper Limb Kinetics in Cycling." Journal of Applied Biomechanics 32, no. 2 (2016): 140–49. http://dx.doi.org/10.1123/jab.2014-0295.

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Several suggestions on the upper limb involvement in cycling exist but, to date, no study has quantified upper limb kinetics in this task. The aim of this study was to determine how crank power and pedaling position (seated or standing) affect upper limb kinetics. Handlebar loadings and upper limb kinematics were collected from 17 participants performing seated or standing pedaling trials in a random order at 6 crank powers ranging from 20% (112 ± 19 W) to 120% (675 ± 113 W) of their spontaneous sit-to-stand transition power. An inverse dynamics approach was used to compute 3D moments, powers,

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Ghorbani Faal, Sanubar, Elham Shirzad, Ali Sharifnezhad, Mojtaba Ashrostaghi, and Roozbeh Naemi. "A Novel Method for Field Measurement of Ankle Joint Stiffness in Hopping." Applied Sciences 11, no. 24 (2021): 12140. http://dx.doi.org/10.3390/app112412140.

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Stiffness of ankle joint has been investigated in a wide range of biomechanical studies with a focus on the improvement of performance and reduction in the risk of injury. However, measuring ankle joint stiffness (AJS) using the existing conventional methodologies requires sophisticated equipment such as force plate and motion analyses systems. This study presents a novel method for measuring AJS during a hopping task with no force or motion measurement system. Also the validity of the proposed new method was investigated by comparing the results against those obtained using conventional metho

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Martini dos Santos, Tiara, Louise Reips, and José Mario Martínez. "Under-relaxed quasi-Newton acceleration for an inverse fixed-point problem coming from Positron Emission Tomography." Journal of Inverse and Ill-posed Problems 26, no. 6 (2018): 755–70. http://dx.doi.org/10.1515/jiip-2016-0058.

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Abstract Quasi-Newton acceleration is an interesting tool to improve the performance of numerical methods based on the fixed-point paradigm. In this paper, a briefly description of the compartmental model employed for a typical task in perfusion imaging is presented. Next, a quasi-Newton strategy for accelerating the convergence of fixed-point iterations is analyzed. For that, classical secant updates are considered. Finally, the quasi-Newton strategy is applied on the practical problem of represent the kinetic behavior of a PET (Positron Emission Tomography) tracer during cardiac perfusion. T

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Chou, P. H., Y. L. Chou, H. C. Wei, C. S. Ho, and S. S. Jiang. "Biomechanical Analysis of Wrist Loading During Lifting Tasks." Journal of Mechanics 17, no. 4 (2001): 179–87. http://dx.doi.org/10.1017/s172771910000191x.

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ABSTRACTThis study develops a kinematic/kinetic model to evaluate the effect of different handle angles on wrist loading during lifting task. An imaged-based motion analysis system is used to study the movement pattern, force and moment of the wrist joint among nine different handle angles. Six CCD cameras were used to record 3-D trajectories of limb-mounted markers based on the laboratory coordination system as defined by an 8-marker cube. Euler angles are used to describe the orientation of a distal segment reference frame relative to a proximal segment reference frame. Each segment of the u

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8

Ren, Zirui, and Lisheng Zhang. "Research on Inverse Kinematics and Block Grasping Techniques for Six-Axis Robotic Arms." Applied and Computational Engineering 121, no. 1 (2025): 24–34. https://doi.org/10.54254/2755-2721/2025.19492.

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Nowadays, large to a variety of factories and aerospace fields, small to mechanical toys, robotic arm has widely used in all works of life. Because of the interest of robotic arms, during the summer vacation, we did some research on the robot arm in order to better understand the operating principle of the robot arm and how to execute the task. This paper discusses the body frame and kinetic principles of a six-degree swivel manipulator arm. We confine to the High-Level APIs that ROS provides and focus this article on the analysis of mechanical design in a robotic arm using inverse kinematics

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Leylavi Shoushtari, Ali. "What Strategy Central Nervous System Uses to Perform a Movement Balanced? Biomechatronical Simulation of Human Lifting." Applied Bionics and Biomechanics 10, no. 2-3 (2013): 113–24. http://dx.doi.org/10.1155/2013/120707.

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How does the central nervous system control the body posture during various tasks despite a redundancy? It's a well-known question existed in such fields of study as biomechanics and bioengineering. Some techniques based on muscle and torques synergies are presented to study the function which Central Nervous System uses to addresses the kinetic redundancy in musculoskeletal system. The human body with its whole numerous joints considered as a hyper redundant structure which caused to be seemed that it is impossible for CNS to control and signal such system. To solve the kinematic redundancy i

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Mohammadi, Yousef, Mohammad Saeb, Alexander Penlidis, et al. "Intelligent Machine Learning: Tailor-Making Macromolecules." Polymers 11, no. 4 (2019): 579. http://dx.doi.org/10.3390/polym11040579.

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Nowadays, polymer reaction engineers seek robust and effective tools to synthesize complex macromolecules with well-defined and desirable microstructural and architectural characteristics. Over the past few decades, several promising approaches, such as controlled living (co)polymerization systems and chain-shuttling reactions have been proposed and widely applied to synthesize rather complex macromolecules with controlled monomer sequences. Despite the unique potential of the newly developed techniques, tailor-making the microstructure of macromolecules by suggesting the most appropriate poly

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11

Semernin, A. N., Alexey Soldatenkov, and Zinaida Anisimova. "APPLICATION OF ELECTROMECHANICAL ANALOGIES SYSTEMS TO CREATE MATHEMATICAL MODELS IN ELECTRIC DRIVES." Energy Systems 9, no. 3 (2024): 25–32. https://doi.org/10.34031/es.2024.3.002.

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An electromechanical system and a method for studying it based on constructing a simulation model are considered. The difficulties of the mathematical description associated with the exchange of energy between the mechanical and electrical parts of the system, and with the transformation of energy in each of these parts, are indicated. Using the example of an electrical and mechanical system, a mathematical description of their operation is considered, and analogies between mechanical and electrical quantities are given. Using the concept of direct and inverse systems of electromechanical anal

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Boomeri, V., and H. Tourajizadeh. "Design, Modeling, and Control of a New Manipulating Climbing Robot Through Infrastructures Using Adaptive Force Control Method." Robotica 38, no. 11 (2020): 2039–59. http://dx.doi.org/10.1017/s0263574719001814.

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SUMMARYIn this paper, design, modeling, and control of a grip-based climbing robot are performed, which consists of a triangular chassis and three actuating legs. This robot can climb through any trusses, pipeline, and scaffolds structures and can perform any inspectional and operational tasks in the high height which decreases the falling danger of operation and increases the safety of the workers. The proposed robot can be substituted for the workers to decrease the risk of death danger and increase the safety of the operation. Since these kinds of infrastructures are truss shaped, the tradi

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Duleba, I., and I. Karcz-Duleba. "Suboptimal approximations in repeatable inverse kinematics for robot manipulators." Bulletin of the Polish Academy of Sciences Technical Sciences 65, no. 2 (2017): 209–17. http://dx.doi.org/10.1515/bpasts-2017-0025.

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Abstract In this paper a repeatable inverse kinematic task was solved via an approximation of a pseudo-inverse Jacobian matrix of a robot manipulator. An entry configuration to the task was optimized and a task-dependent definition of an approximation region, in a configuration space, was utilized. As a side effect, a relationship between manipulability and optimally augmented forward kinematics was established and independence of approximation task solutions on rotations in augmented components of kinematics was proved. A simulation study was performed on planar pendula manipulators. It was d

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Virgala, Ivan, Tomáš Lipták, and Ľubica Miková. "Snake Robot Locomotion Patterns for Straight and Curved Pipe." Strojnícky casopis – Journal of Mechanical Engineering 68, no. 2 (2018): 91–104. http://dx.doi.org/10.2478/scjme-2018-0020.

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AbstractIn the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe. For the straight pipe locomotion was designed traveling wave locomotion pattern with sine-like wave which expands from rear of the robot to its front. For the locomotion in curved pipe was designed approach which is based on inverse kinematic model including besides primary task also secondary tasks, namely kinematic singularities avoidance task, obstacle avoidance task and joint limit avoidance task. For final inverse kinematic model was used approach of weight matrices by whic

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15

Alexander, Kvartenko, and Prysiazhniuk Igor. "PREDICTION OF THE PROCESS OF BIOLOGICAL DEFERRIZATION OF UNDERGROUND WATER IN A BIOREACTOR." Eastern-European Journal of Enterprise Technologies 5, no. 10 (101) (2019): 14–22. https://doi.org/10.15587/1729-4061.2019.177537.

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Research in the field of groundwater treatment indicates the prospects for the development of its complex purification involving various morphological types of microorganisms, fixed on inert contact materials. It was indicated that at certain parameters of water quality (pH 6–7; Eh 50...200 mV, in the presence of dissolved carbon dioxide and at  magnitudes of permanganate oxidation of up to 5 mg О<sub>2</sub>/dm<sup>3</sup>), development of bacteria of genus Gallionella prevails in groundwater, and development of bacteria of genera Lepthothrix, Crenothrix prevail

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16

Lin, Chih Jer, Chii Ruey Lin, Shen Kai Yu, and Cheng Chin Han. "Singularity Avoidance for a Redundant Robot Using Fuzzy Motion Planning." Applied Mechanics and Materials 479-480 (December 2013): 729–36. http://dx.doi.org/10.4028/www.scientific.net/amm.479-480.729.

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The purpose of this study is to design a redundant robot meeting the specific task and tracking the specific trajectory. Although the Moore-Penrose pseudo-inverse kinematic is commonly using to solve the inverse kinematic problem, it cannot solve the singularity exists in some situations that the rank of Jacobian matrix is not full rank for the redundant robot. Thus, a fuzzy motion planning algorithm is proposed to solve the inverse kinematic with singularity. Finally, we can obtain the position of five axes robot manipulator using fuzzy motion planning mapping method, and the errors of the si

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17

Drexler, Dániel András. "Regularization of the Spatial Inverse Positioning Problem of Revolute Joint Manipulators." Periodica Polytechnica Electrical Engineering and Computer Science 61, no. 3 (2017): 279. http://dx.doi.org/10.3311/ppee.8607.

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Inverse kinematics is a central problem in robotics, and its solution is burdened with kinematic singularities, i.e. the task Jacobian of the problem is singular. A subproblem of the general inverse kinematics problem, the inverse positioning problem is considered for spatial manipulators consisting of revolute joints, and a regularization method is proposed that results in a regular task Jacobian in singular configurations as well, provided that the manipulator’s geometry makes movement in singular directions possible. The conditions of regularizability are investigated, and bounds on the sin

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18

Kuo, J. A., and D. J. Sanger. "Task planning for serial redundant manipulators." Robotica 15, no. 1 (1997): 75–83. http://dx.doi.org/10.1017/s026357479700009x.

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The first stage in developing a task planning language for redundant manipulators is that of constructing an algorithm to produce a schedule of joint displacements for the specified task. This algorithm may be based upon the use of an inverse infinitesimal kinematic analysis for the majority of the path with a finite inverse analysis used to provide an initial joint configuration and periodically to correct for any joint errors that may have accumulated. Here, it is assumed that there is complete correlation and coherence of solutions between these analyses, otherwise problems, such as a lack

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19

Varga, Bence, Hazem Issa, Richárd Horváth, and József Tar. "Sub-optimal Solution of the Inverse Kinematic Task of Redundant Robots without Using Lagrange Multipliers." SYSTEM THEORY, CONTROL AND COMPUTING JOURNAL 1, no. 2 (2021): 40–48. http://dx.doi.org/10.52846/stccj.2021.1.2.25.

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In the paper a novel approach is suggested for solving the inverse kinematic task of redundant open kinematic chains. Traditional approaches as the Moore-Penrose generalized inverse-based solutions minimize the sum of squares of the timederivative of the joint coordinates under the constraint that contains the task itself. In the vicinity of kinematic singularities where these solutions are possible the hard constraint terms produce high time-derivatives that can be reduced by the use of a deformation proposed by Levenberg and Marquardt. The novel approach uses the basic scheme of the Receding

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20

Faitli, Tamás, and József Tar. "Solution of The Inverse Kinematic Task of A Robot-Arm Based on A Quasi-Differential Fixed-Point Transformation Method." Műszaki Tudományos Közlemények 9, no. 1 (2018): 71–74. http://dx.doi.org/10.33894/mtk-2018.09.13.

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Abstract While the forward kinematic task of robots can be solved easily through homogenous transformation matrices, the inverse kinematic task leads to difficulties as the construction of the system becomes more complex. In this paper, a solution has been worked out for a three Degree-of-Freedom (DOF) robot-arm based on recent research, by the use of a novel, fixed-point transformation based technique.

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21

Yoo, Young jun, Dae sung Jung, Yu jin Jang, and Sang chul Won. "Fuzzy weighted subtask controller for redundant manipulator." Robotica 33, no. 2 (2014): 295–313. http://dx.doi.org/10.1017/s0263574714000344.

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SUMMARYWe propose a fuzzy weighted subtask controller for a redundant robot manipulator. To expand the feasibility of the inverse kinematic solution, we introduce a weighted pseudo-inverse that changes the null-space of the Jacobian. The weights of elements in the pseudo-inverse are obtained using fuzzy rules that are related to the null-space velocity tracking error. With the pseudo-inverse, we develop a task space controller to track a desired task space trajectory and subtask control input. We propose a weighted subtask controller for multiple subtasks. The results of a simulation and exper

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22

Di Lillo, Paolo, Gianluca Antonelli, and Ciro Natale. "Effects of Dynamic Model Errors in Task-Priority Operational Space Control." Robotica 39, no. 9 (2021): 1642–53. http://dx.doi.org/10.1017/s0263574720001411.

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SUMMARYControl algorithms of many Degrees-of-Freedom (DOFs) systems based on Inverse Kinematics (IK) or Inverse Dynamics (ID) approaches are two well-known topics of research in robotics. The large number of DOFs allows the design of many concurrent tasks arranged in priorities, that can be solved either at kinematic or dynamic level. This paper investigates the effects of modeling errors in operational space control algorithms with respect to uncertainties affecting knowledge of the dynamic parameters. The effects on the null-space projections and the sources of steady-state errors are invest

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23

Broderick, P. L., and R. J. Cipra. "A Method for Determining and Correcting Robot Position and Orientation Errors Due to Manufacturing." Journal of Mechanisms, Transmissions, and Automation in Design 110, no. 1 (1988): 3–10. http://dx.doi.org/10.1115/1.3258902.

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A method is presented for calibration of a robot to correct position and orientation errors due to manufacturing. The method is based on the shape matrix robot kinematic description. Each joint is individually and successively moved in order to explicitly calculate the shape matrix of each link. In addition, methods to correct for the errors in both the forward and inverse kinematic solutions are presented. The modification of the forward solution is a simple task. The modification of the inverse kinematic solution is a difficult problem and is achieved by an iterative technique which suppleme

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Kelemen, Michal, Ivan Virgala, Tomáš Lipták, Ľubica Miková, Filip Filakovský, and Vladimír Bulej. "A Novel Approach for a Inverse Kinematics Solution of a Redundant Manipulator." Applied Sciences 8, no. 11 (2018): 2229. http://dx.doi.org/10.3390/app8112229.

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Kinematically-redundant manipulators present considerable difficulties, especially from the view of control. A high number of degrees of freedom are used to control so-called secondary tasks in order to optimize manipulator motion. This paper introduces a new algorithm for the control of kinematically-redundant manipulator considering three secondary tasks, namely a joint limit avoidance task, a kinematic singularities avoidance task, and an obstacle avoidance task. For path planning of end-effector from start to goal point, the potential field method is used. The final inverse kinematic model

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Petra, Iskandar, and Liyanage C. de Silva. "Inverse Kinematic Solutions Using Artificial Neural Networks." Applied Mechanics and Materials 534 (February 2014): 137–43. http://dx.doi.org/10.4028/www.scientific.net/amm.534.137.

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Inverse Kinematics solutions are needed for control of robotic manipulators for successful task execution. It is the process of obtaining the required manipulator joint angle values for a given desired end point position and orientation. In general the process of obtaining these joint angle values is a complex process that may require some higher computational power in the hardware. Mainly there are three traditional methods used to solve inverse kinematics problem, namely; geometric methods, algebraic methods and iterative methods. Apart from these traditional techniques researchers have look

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26

Faroni, Marco, Manuel Beschi, Nicola Pedrocchi, and Antonio Visioli. "Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints." IEEE Transactions on Robotics 35, no. 1 (2019): 278–85. http://dx.doi.org/10.1109/tro.2018.2871439.

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27

Halabi, Osama, Mohammed Al-Sada, Hala Abourajouh, Myesha Hoque, Abdullah Iskandar, and Tatsuo Nakajima. "Enhancing Telexistence Control Through Assistive Manipulation and Haptic Feedback." Applied Sciences 15, no. 3 (2025): 1324. https://doi.org/10.3390/app15031324.

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The COVID-19 pandemic brought telepresence systems into the spotlight, yet manually controlling remote robots often proves ineffective for handling complex manipulation tasks. To tackle this issue, we present a machine learning-based assistive manipulation approach. This method identifies target objects and computes an inverse kinematic solution for grasping them. The system integrates the generated solution with the user’s arm movements across varying inverse kinematic (IK) fusion levels. Given the importance of maintaining a sense of body ownership over the remote robot, we examine how hapti

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Goldenberg, A. A., J. A. Apkarian, and H. W. Smith. "A New Approach to Kinematic Control of Robot Manipulators." Journal of Dynamic Systems, Measurement, and Control 109, no. 2 (1987): 97–103. http://dx.doi.org/10.1115/1.3143843.

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A new approach for solving the inverse kinematics problem iteratively is presented. The solution is based on the recursive estimation of a kinematics operator which maps the task space coordinates into joint coordinates. The recursive estimation is based on least square approximation. For controlling the robot, the solution (Joint coordinates) must be compensated to achieve an arbitrarily small error (in least square sense) of the desired task space coordinates. The compensation is provided by closed loop feedback of task space coordinates using an optimal control approach.

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Tuleshov, K. Amandyk, A. Kassymbek Ozhikenov, and K. Assylbek Ozhiken. "Investigation of Dynamical Peculiarities of Manipulator on the Basis of close Circuit Mechanism." Advanced Materials Research 705 (June 2013): 386–89. http://dx.doi.org/10.4028/www.scientific.net/amr.705.386.

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Manipulator dynamics is investigated on the basis of closed kinematic chain, in comparison to manipulator on the base of non-closed kinematic chain. Thereby the dynamic peculiarities of their driving actuators are considered. The solution of the task of program motion development was received as a solution of inverse task of kinematics. The modeling issues of investigated manipulators dynamics are resolved and the results were attained. The attained results demonstrate that the application of flat closed mechanisms as the operating device of manipulation robots is promising from the perspectiv

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30

Lepoutre, F. X. "Human posture modelisation as a problem of inverse kinematic of redundant robots." Robotica 11, no. 4 (1993): 339–43. http://dx.doi.org/10.1017/s0263574700016593.

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SUMMARYHuman posture is the co-operation of parts of the body to perform a task. This organization is self optimised by the operator to minimize strain and pain and maximize efficiency. This problem is formulated as a problem of inverse kinematic of a redundant robot. Constraints are imposed by the visual and manual task, and criteria may be modified in relation to operator motivation and tiredness. An interactive graphical software is designed to teach the postural problem and as an ergonomic aid.

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Wang, Yueyue, Yanhui Wei, Weihang Gao, Tianyu Ma, and Yuntao Han. "Ocean Wave Active Compensation Analysis for Redundant Hybrid Boarding System: A Multi-Task Motion Planning Method." Journal of Marine Science and Engineering 11, no. 4 (2023): 708. http://dx.doi.org/10.3390/jmse11040708.

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In this paper, to effectively solve the joint motion planning of a nine-DOF redundant hybrid boarding system in the process of ocean wave active compensation, we present a multi-task motion planning (MTMP) method for the redundant hybrid boarding system. First, the hybrid mechanism is disassembled into a six-DOF parallel mechanism and a three-DOF serial mechanism for kinematic analysis separately to obtain the Jacobian matrix of the hybrid mechanism in the task space. Then, according to the configuration characteristics of the hybrid mechanism and to avoid the defects of the pseudo-inverse and

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Ouezdou, F. B., and S. Régnier. "General method for kinematic synthesis of manipulators with task specifications." Robotica 15, no. 6 (1997): 653–61. http://dx.doi.org/10.1017/s0263574797000787.

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This paper deals with the kinematic synthesis of manipulators. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks specified by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps: the problem statement, the objective functions formulations and the minimum parameters values determination. Then, this method is applied to solve the synthesis of the Denavit and Hartenberg set of parameters of a manipulator with a given kinematic structure.

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Cho, Dong Kwon, Byoung Wook Choi, and Myung Jin Chung. "Optimal conditions for inverse kinematics of a robot manipulator with redundancy." Robotica 13, no. 1 (1995): 95–101. http://dx.doi.org/10.1017/s0263574700017525.

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SummaryThe algorithms of inverse kinematics based on optimality constraints have some problems because those are based only on necessary conditions for optimality. One of the problems is a switching problem, i.e., an undesirable configuration change from a maximum value of a performance measure to a minimum value may occur and cause an inverse kinematic solution to be unstable. In this paper, we derive sufficient conditions for the optimal solution of the kinematic control of a redundant manipulator. In particular, we obtain the explicit forms of the switching condition for the optimality cons

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Cerkala, Jakub, and Anna Jadlovska. "Application of neural models as controllers in mobile robot velocity control loop." Journal of Electrical Engineering 68, no. 1 (2017): 39–46. http://dx.doi.org/10.1515/jee-2017-0005.

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Abstract This paper presents the application of an inverse neural models used as controllers in comparison to classical PI controllers for velocity tracking control task used in two-wheel, differentially driven mobile robot. The PI controller synthesis is based on linear approximation of actuators with equivalent load. In order to obtain relevant datasets for training of feed-forward multi-layer perceptron based neural network used as neural model, the mathematical model of mobile robot, that combines its kinematic and dynamic properties such as chassis dimensions, center of gravity offset, fr

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Rudas, Imre J., József K. Tar, János F. Bitó, Ágnes Szeghegyi, and Krzysztof R. Kozlowski. "A Combined Solution of the Inverse Kinematic Task in the Vicinity of the Singularities." Journal of Advanced Computational Intelligence and Intelligent Informatics 8, no. 5 (2004): 514–22. http://dx.doi.org/10.20965/jaciii.2004.p0514.

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In the case of the traditional differential approach of solving the inverse kinematic task, depending on the desired trajectory that may approach, reach, and cross the boundaries of non-singular domains or domains of different degree of singularity, certain joint velocities may take huge values. Within the singularity it may happen that the desired task cannot exactly be solved, and that this imprecise solution has one or more degree of freedom in its ambiguity. The motion planner provided with end-point position and orientation data with respect to the workshop’s Cartesian frame does not have

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Chen, Hongtang, Haijun Ma, Hongli Jiang, Shenjin Lv, Yong Li, and Heshan Liu. "Kinematic Modeling of 3P2R Welding Robot Based on D-H Parameters." Journal of Physics: Conference Series 2218, no. 1 (2022): 012085. http://dx.doi.org/10.1088/1742-6596/2218/1/012085.

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Abstract To meet the demand of different vehicle models welding task, as well as lower the cost of specialized welding facility, a kind of 3P2R arc welding robot has been developed and SolidWorks is used to set up the Three Dimensional (3D) solid model. The developed robot includes 3P2R body, controller, and a welding power supply. The direct kinematical model and inverse solution have been worked out basing on Denavit-Hartenberg (D-H) method, and the direct kinematical model and inverse solution are verified by experiment. This robot could also be used to burring or spray field with the actua

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Kaizerman, S., G. Zak, B. Benhabib, and R. G. Fenton. "A Sensitivity Analysis Based Method for Robot Calibration." Journal of Mechanical Design 116, no. 2 (1994): 607–13. http://dx.doi.org/10.1115/1.2919421.

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A new robot kinematic calibration procedure is presented. The parameters of the kinematic model are estimated through a relationship established between the deviations in the joint variables and the deviations in the model parameters. Thus, the new method can be classified as an inverse calibration procedure. Using suitable sensitivity analysis methods, the matrix of the partial derivatives of joint variables with respect to robot parameters is calculated without having explicit expressions of joint variables as a function of task space coordinates (closed inverse kinematic solution). This mat

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Yankov, K. "PLANNING THE JOINT TRAJECTORY OF REDUNDANT KINEMATICS CHAIN." Trakia Journal of Sciences 20, no. 3 (2022): 242–52. http://dx.doi.org/10.15547/tjs.2022.03.011.

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In a number of technological operations, the end-effector of an open kinematic chain must follow a spatial trajectory, and a necessary condition for the realization of the movement is the smooth change of the generalized coordinates. An analogous problem exists in the development of drugs when a molecular configuration requiring minimal energy for its realization must be provided. A task of this nature must be solved in order to find the missing segments of a partially known protein structure. These problems lead to the more general task of ensuring a smooth change of the joint coordinates of

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Arimoto, Suguru, and Masahiro Sekimoto. "Natural Resolution of Ill-Posed Inverse Kinematics for Redundant Robots: A Challenge to Bernstein’s Degrees-of-Freedom Problem." Journal of Robotics and Mechatronics 18, no. 5 (2006): 651–60. http://dx.doi.org/10.20965/jrm.2006.p0651.

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Over half a century ago, A. N. Bernstein observed that “dexterity” in human limb movement emerges from the involvement of multijoint motion with surplus degrees of freedom (DOF). Robotics posits that DOF redundancy in robot may enhance dexterity and versatility. Kinematic redundancy involves the problem of ill-posed inverse kinematics from task-description space to joint space. This problem is conventionally avoided by introducing an artificial performance index and uniquely determining an inverse kinematics solution by minimizing it. Instead of taking this conventional avoidance solution, we

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Patkó, Dóra, and Ambrus Zelei. "Velocity and acceleration level inverse kinematic calculation alternatives for redundant manipulators." Meccanica 56, no. 4 (2021): 887–900. http://dx.doi.org/10.1007/s11012-020-01305-z.

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AbstractFor both non-redundant and redundant systems, the inverse kinematics (IK) calculation is a fundamental step in the control algorithm of fully actuated serial manipulators. The tool-center-point (TCP) position is given and the joint coordinates are determined by the IK. Depending on the task, robotic manipulators can be kinematically redundant. That is when the desired task possesses lower dimensions than the degrees-of-freedom of a redundant manipulator. The IK calculation can be implemented numerically in several alternative ways not only in case of the redundant but also in the non-r

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Zhou, Yaosheng, Guirong Han, Ziang Wei, Zixin Huang, and Xubing Chen. "A Time-Optimal Continuous Jerk Trajectory Planning Algorithm for Manipulators." Applied Sciences 13, no. 20 (2023): 11479. http://dx.doi.org/10.3390/app132011479.

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In this paper, we propose a new optimal trajectory planning method for the manipulator to optimize its operating efficiency and ensure the smoothness of the motion process. The position sequences in joint space corresponding to a specified trajectory in task space are obtained by using the inverse kinematic algorithm, and the seventh-degree B-spline curve interpolation method is used to construct the joint trajectory with controllable start–stop kinematic parameters, and continuous velocity, acceleration and jerk. The kinematic constraints of the manipulator are transformed into the control po

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Zhao, Liangliang, Zainan Jiang, Yongjun Sun, Jingdong Zhao, and Hong Liu. "Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles." International Journal of Advanced Robotic Systems 18, no. 1 (2021): 172988142199614. http://dx.doi.org/10.1177/1729881421996148.

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Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obstacles. Our optimization-based algorithm simultaneously handles the task space constraints, the joint limit constraints, and the collision-free constraints for hyper-redundant manipulators based on the generalized framework. Second, we present an extension of our inverse kinematic algorithm to collisi

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Zhao, Da Xu, En Cang Di, Guo Zhong Shou, and Yu Qi Gu. "Kinematics of a 6-DOF Feeding and Unloading Manipulator." Key Engineering Materials 620 (August 2014): 490–95. http://dx.doi.org/10.4028/www.scientific.net/kem.620.490.

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In order to improve the efficiency of kinematics modeling in analyzing robots, this document used Lie groups and screw theory to describe rigid motion of the robot system, established a kinematic model of operating arm based on Product of Exponentials (POE) formula, and analyzed forward and inverse kinematics of chain topology structure robot, as well as several sub-inverse problem of inverse kinematics. A 6-DOF series-wound configuration loading and unloading manipulator has been used as an example, its kinematics equations are established by POE formula combined with screw theory, the specia

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Farshchiansadegh, Ali, Rajiv Ranganathan, Maura Casadio, and Ferdinando A. Mussa-Ivaldi. "Adaptation to visual feedback delay in a redundant motor task." Journal of Neurophysiology 113, no. 2 (2015): 426–33. http://dx.doi.org/10.1152/jn.00249.2014.

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The goal of this study was to examine the reorganization of hand movements during adaptation to delayed visual feedback in a novel and redundant environment. In most natural behaviors, the brain must learn to invert a many-to-one map from high-dimensional joint movements and muscle forces to a low-dimensional goal. This spatial “inverse map” is learned by associating motor commands to their low-dimensional consequences. How is this map affected by the presence of temporal delays? A delay presents the brain with a new set of kinematic data, and, because of redundancy, the brain may use these da

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Ozgoren, M. Kemal. "Kinematic and Kinetostatic Analysis of Parallel Manipulators with Emphasis on Position, Motion, and Actuation Singularities." Robotica 37, no. 4 (2018): 599–625. http://dx.doi.org/10.1017/s0263574718001194.

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SummaryThis paper provides a contribution to the singularity analysis of the parallel manipulators by introducing the position singularities in addition to the motion and actuation singularities. The motion singularities are associated with the linear velocity mapping between the task and joint spaces. So, they are the singularities of the relevant Jacobian matrices. On the other hand, the position singularities are associated with the nonlinear position mapping between the task and joint spaces. So, they are encountered in the position-level solutions of the forward and inverse kinematics pro

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Goldenberg, A. A., and D. L. Lawrence. "A Generalized Solution to the Inverse Kinematics of Robotic Manipulators." Journal of Dynamic Systems, Measurement, and Control 107, no. 1 (1985): 103–6. http://dx.doi.org/10.1115/1.3140699.

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In the context of kinematic control of a robotic manipulator if a certain set of task space coordinates (end effector position and orientation) are commanded then the corresponding configuration space coordinates (joint variables) must be provided. The joint variables are obtained by solving the “inverse kinematics problem.” Typically a solution to the problem can be obtained in closed-form; however, such a solution is inherently manipulator-dependent. The paper presents an approach for providing a generalized inverse kinematics solution which is manipulator-independent. The solution is based

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Fedotov, Vladislav Kh, and Nikolay I. Kol'tsov. "KINETICS QUASIINVARIANTS OF CHEMICAL REACTIONS IN OPEN SYSTEMS." IZVESTIYA VYSSHIKH UCHEBNYKH ZAVEDENII KHIMIYA KHIMICHESKAYA TEKHNOLOGIYA 62, no. 8 (2019): 76–80. http://dx.doi.org/10.6060/ivkkt.20196208.5891.

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The methods of nonequilibrium multi-experiments are one of the new approaches to solving inverse problems of chemical kinetics and optimization of chemical reactors. Currently, these methods are developed only for closed isothermal systems. In this paper, a generalization of the dual-experiment method and its extended version of the multi-experiment method for open systems is obtained, which allows to determine the approximate kinetic invariants (quasiinvariants) of chemical reactions in open continuous stirred tank reactor. The multi-experiment method for open systems is based on conducting t

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Lu, Zongxing, Chunguang Xu, Qinxue Pan, Xinyu Zhao, and Xinliang Li. "Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application." Journal of Robotics 2015 (2015): 1–7. http://dx.doi.org/10.1155/2015/596327.

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The robot system has been utilized in the nondestructive testing field in recent years. However, only a few studies have focused on the application of ultrasonic testing for complex work pieces with the robot system. The inverse kinematics problem of the 6-DOF robot should be resolved before the ultrasonic testing task. A new effective solution for curved-surface scanning with a 6-DOF robot system is proposed in this study. A new arm-wrist separateness method is adopted to solve the inverse problem of the robot system. Eight solutions of the joint angles can be acquired with the proposed inver

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Pasetto, Alberto, Yash Vyas, and Silvio Cocuzza. "Zero Reaction Torque Trajectory Tracking of an Aerial Manipulator through Extended Generalized Jacobian." Applied Sciences 12, no. 23 (2022): 12254. http://dx.doi.org/10.3390/app122312254.

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Aerial manipulators are used in industrial and service robotics tasks such as assembly, inspection, and maintenance. One of the main challenges in aerial manipulation is related to the motion of the UAV base caused by manipulator disturbance torques and forces, which jeopardize the precision of the robot manipulator. In this paper, we propose two novel inverse kinematic control methods used to track a trajectory with an aerial manipulator while also considering resultant UAV base motions. The first method is adapted from the generalized Jacobian formulation used in space robotics and includes

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Cassar, Jean Philippe, and Philippe Vanheeghe. "Specific computation of inverse kinematics in a robot off-line programming environment." Robotica 7, no. 1 (1989): 65–69. http://dx.doi.org/10.1017/s026357470000504x.

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SUMMARYAn off-line programming station for a robotised welding cell is presented. In this context the choice of a kinematic inversion method applied to the simulation of robots is discussed.A direct inversion method is developed in the case of 5-axes robots of plane geometry and for a task presenting a symmetry of revolution. It uses the geometry of the tool and of the robot and vectorial calculations very well adapted to this particular case. The results presented validate the choice of this method for a specialised programming environment.

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