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Journal articles on the topic 'Kinematic'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Zhao, Rui Feng, Zhen Zhang, and Jiu Qiang Cui. "The Kinematics Modeling and Simulation of a Mechanical Arm in Nuclear Industry with Postpositional Drive." Applied Mechanics and Materials 496-500 (January 2014): 754–59. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.754.

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For the particularity of the environment in nuclear industry, this paper puts forward a modularized mechanical arm with postpositional drive. On the basis of structural characteristics and kinematic constraints, the kinematics of robotic arm is analyzed. The D-H method is used for describing the workspace, based on considering the kinematic constraints, the forward kinematics model is achieved. Using an improved search method, the inverse kinematics solution is obtained. Through the simulation on data processing software, the validity of positive kinematics model and inverse kinematic solution

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2

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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3

Xu, Yi Chun, Bin Li, and Xin Hua Zhao. "Influence upon Kinematics Performance of a Family of 3-PRS Parallel Mechanisms Affected by Kinematic Chain Layout." Applied Mechanics and Materials 321-324 (June 2013): 37–41. http://dx.doi.org/10.4028/www.scientific.net/amm.321-324.37.

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The influence upon kinematics performance of a family of 3-PRS parallel mechanisms affected by kinematic chain layout has been studied in this paper. Firstly, the locality arrangement parameters of single PRS kinematic chain are identified. According to these parameters values and their combinations, different arrangement of PRS kinematic chain are proposed, and variant configurations of 3-PRS parallel mechanisms are enumerated. Then, the inverse kinematic problems are solved, and the influential actions of kinematic chain layout on kinematic performance of these mechanisms are carried out. Si

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4

James, P. A., and B. Roth. "A Unified Theory for Kinematic Synthesis." Journal of Mechanical Design 116, no. 1 (1994): 144–54. http://dx.doi.org/10.1115/1.2919338.

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In this paper we derive an analytic method for obtaining infinitesimal kinematic synthesis results as a limiting process from finitely-separated position kinematics. Expanding on previous work, we extend the unified theory to include spatial kinematic synthesis and we present a new numerical method. The new methods serve to unity finite, infinitesimal, and hybrid kinematic synthesis into one theory for kinematic synthesis.

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Tolstosheev, A. K., and V. A. Tatarintsev. "Designing Statically Determinable Mechanisms of Technological Mechatronic Machines with Parallel Kinematics." Mekhatronika, Avtomatizatsiya, Upravlenie 20, no. 7 (2019): 428–36. http://dx.doi.org/10.17587/mau.20.428-436.

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The work is devoted to improving the reliability and manufacturability of mechatronic machine designs with parallel kinematics by replacing statically indeterminable manipulators with statically determinable mechanisms. A technique is proposed in which the design of statically determinable manipulators of technological mechatronic machines with parallel kinematics is performed by modifying the structure of prototypes and includes three steps: identifying and analyzing redundant links, eliminating redundant links, checking the correctness of eliminating redundant links. To determine the number

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6

Purwana, Unang, Dadi Rusdiana, and Winny Liliawati. "PENGUJIAN KEMAMPUAN MENGINTERPRETASIKAN GRAFIK KINEMATIKA CALON GURU FISIKA: THE POLYTOMOUS RASCH ANALYSIS." ORBITA: Jurnal Kajian, Inovasi dan Aplikasi Pendidikan Fisika 6, no. 2 (2020): 259. http://dx.doi.org/10.31764/orbita.v6i2.3264.

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ABSTRAKKemampuan interpretasi grafik merupakan kemampuan yang sangat penting dan kunci utama dalam memahami materi kinematika dan materi fisika lanjutan. Namun kemampuan interpretasi grafik materi kinematika mahasiswa calon guru masih rendah. Tujuan penelitian ini menguji kemampuan membaca dan menginterpretasikan grafik kinematika calon guru dengan analisis polytomous rasch model. Instrumen terdiri dari empat soal uraian menyajikan grafik kinematika. Tes diberikan ke 20 mahasiswa calon guru, terdiri dari 14 perempuan dan 6 laki-laki. Metode yang digunakan survei deskriptif kuantitatif dengan a

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Hanson, Robert B. "Statistical Analysis of Proper Motion Surveys." Symposium - International Astronomical Union 109 (1986): 43–45. http://dx.doi.org/10.1017/s0074180900076385.

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Proper motion surveys offer a great deal of data bearing on important astronomical problems such as stellar kinematics and the luminosity function in the solar neighborhood. Major obstacles to the full use of proper motions have long been posed by: (1) incompleteness of proper motion surveys, (2) proper motion bias in kinematic studies, and (3) the indirect approaches and kinematical assumptions needed in traditional luminosity studies.

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8

Iriarte-Diaz, Jose, Daniel K. Riskin, Kenneth S. Breuer, Sharon M. Swartz, and Alistair Robert Evans. "Kinematic Plasticity during Flight in Fruit Bats: Individual Variability in Response to Loading." PLoS ONE 7, no. 5 (2012): e36665. https://doi.org/10.5281/zenodo.13448075.

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(Uploaded by Plazi for the Bat Literature Project) All bats experience daily and seasonal fluctuation in body mass. An increase in mass requires changes in flight kinematics to produce the extra lift necessary to compensate for increased weight. How bats modify their kinematics to increase lift, however, is not well understood. In this study, we investigated the effect of a 20% increase in mass on flight kinematics for Cynopterus brachyotis, the lesser dog-faced fruit bat. We reconstructed the 3D wing kinematics and how they changed with the additional mass. Bats showed a marked change in wing

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9

Iriarte-Diaz, Jose, Daniel K. Riskin, Kenneth S. Breuer, Sharon M. Swartz, and Alistair Robert Evans. "Kinematic Plasticity during Flight in Fruit Bats: Individual Variability in Response to Loading." PLoS ONE 7, no. 5 (2012): e36665. https://doi.org/10.5281/zenodo.13448075.

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(Uploaded by Plazi for the Bat Literature Project) All bats experience daily and seasonal fluctuation in body mass. An increase in mass requires changes in flight kinematics to produce the extra lift necessary to compensate for increased weight. How bats modify their kinematics to increase lift, however, is not well understood. In this study, we investigated the effect of a 20% increase in mass on flight kinematics for Cynopterus brachyotis, the lesser dog-faced fruit bat. We reconstructed the 3D wing kinematics and how they changed with the additional mass. Bats showed a marked change in wing

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10

Iriarte-Diaz, Jose, Daniel K. Riskin, Kenneth S. Breuer, Sharon M. Swartz, and Alistair Robert Evans. "Kinematic Plasticity during Flight in Fruit Bats: Individual Variability in Response to Loading." PLoS ONE 7, no. 5 (2012): e36665. https://doi.org/10.5281/zenodo.13448075.

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(Uploaded by Plazi for the Bat Literature Project) All bats experience daily and seasonal fluctuation in body mass. An increase in mass requires changes in flight kinematics to produce the extra lift necessary to compensate for increased weight. How bats modify their kinematics to increase lift, however, is not well understood. In this study, we investigated the effect of a 20% increase in mass on flight kinematics for Cynopterus brachyotis, the lesser dog-faced fruit bat. We reconstructed the 3D wing kinematics and how they changed with the additional mass. Bats showed a marked change in wing

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11

Iriarte-Diaz, Jose, Daniel K. Riskin, Kenneth S. Breuer, Sharon M. Swartz, and Alistair Robert Evans. "Kinematic Plasticity during Flight in Fruit Bats: Individual Variability in Response to Loading." PLoS ONE 7, no. 5 (2012): e36665. https://doi.org/10.5281/zenodo.13448075.

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(Uploaded by Plazi for the Bat Literature Project) All bats experience daily and seasonal fluctuation in body mass. An increase in mass requires changes in flight kinematics to produce the extra lift necessary to compensate for increased weight. How bats modify their kinematics to increase lift, however, is not well understood. In this study, we investigated the effect of a 20% increase in mass on flight kinematics for Cynopterus brachyotis, the lesser dog-faced fruit bat. We reconstructed the 3D wing kinematics and how they changed with the additional mass. Bats showed a marked change in wing

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12

Iriarte-Diaz, Jose, Daniel K. Riskin, Kenneth S. Breuer, Sharon M. Swartz, and Alistair Robert Evans. "Kinematic Plasticity during Flight in Fruit Bats: Individual Variability in Response to Loading." PLoS ONE 7, no. 5 (2012): e36665. https://doi.org/10.5281/zenodo.13448075.

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(Uploaded by Plazi for the Bat Literature Project) All bats experience daily and seasonal fluctuation in body mass. An increase in mass requires changes in flight kinematics to produce the extra lift necessary to compensate for increased weight. How bats modify their kinematics to increase lift, however, is not well understood. In this study, we investigated the effect of a 20% increase in mass on flight kinematics for Cynopterus brachyotis, the lesser dog-faced fruit bat. We reconstructed the 3D wing kinematics and how they changed with the additional mass. Bats showed a marked change in wing

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13

Tan, Yue Sheng, Peng Le Cheng, and Ai Ping Xiao. "Inverse Kinematics Solution for a 6R Special Configuration Manipulators Based on Screw Theory." Advanced Materials Research 216 (March 2011): 250–53. http://dx.doi.org/10.4028/www.scientific.net/amr.216.250.

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Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators’ inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. This paper introduces two extra extended sub-problems, through which all inverse kinematic solutions for 6-R manipulators having closed-form inverse kinematics can be gained. The inverse kinematic solution for a new particular configuration manipulator is presented.

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14

Freitas, Gustavo M., Antonio C. Leite, and Fernando Lizarralde. "Kinematic control of constrained robotic systems." Sba: Controle & Automação Sociedade Brasileira de Automatica 22, no. 6 (2011): 559–72. http://dx.doi.org/10.1590/s0103-17592011000600002.

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This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the appli

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15

Müller, Andreas. "Kinematic topology and constraints of multi-loop linkages." Robotica 36, no. 11 (2018): 1641–63. http://dx.doi.org/10.1017/s0263574718000619.

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SUMMARYModeling the instantaneous kinematics of lower pair linkages using joint screws and the finite kinematics with Lie group concepts is well established on a solid theoretical foundation. This allows for modeling the forward kinematics of mechanisms as well the loop closure constraints of kinematic loops. Yet there is no established approach to the modeling of complex mechanisms possessing multiple kinematic loops. For such mechanisms, it is crucial to incorporate the kinematic topology within the modeling in a consistent and systematic way. To this end, in this paper a kinematic model gra

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16

Bonfanti, P., F. Simien, R. Rampazzo, and Ph Prugniel. "Kinematics of early-type galaxies in compact groups: HCG 67, HCG 74 and HCG 79." International Astronomical Union Colloquium 174 (2000): 50–53. http://dx.doi.org/10.1017/s0252921100054749.

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AbstractWe present measurements of stellar kinematics for seven early-type galaxies in HCG 67, HCG 74 and HCG 79. These data are aimed at studying the relation between the environment and the dynamics, structure and stellar content of early-type galaxies. In the present three groups, the kinematic features we observed cannot be associated unambiguously to physical interactions. Visible morphological peculiarities do not appear correlated with kinematical perturbations.

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Semenov, Denis, Vyacheslav Shlyakhtov, and Alexandr Rumyantsev. "Kinematic analysis as the basis for training strategy in gymnastics." BIO Web of Conferences 29 (2021): 01012. http://dx.doi.org/10.1051/bioconf/20212901012.

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The kinematic analysis of gymnastic skills performance is a widely used research method in sports science. This study presents the experience of applying the method of kinematic analysis in the managing the training process of junior gymnasts on the example of mastering three basic gymnastic skills. The test group included 10 junior male gymnasts of the age 9 to 12. The subject of kinematic analysis was based on comparing gymnasts’ joint angles, angular velocity and angular acceleration parameters. The kinematics parameters of gymnastic skills performance by a highly qualified gymnast became t

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18

Li, Bin Cheng, Dan Yang, and Rong Zhi Lu. "Kinematics Analysis and Control System Design of 6-DOF Parallel Kinematic Machine with Matlab and EMC2." Advanced Materials Research 102-104 (March 2010): 363–67. http://dx.doi.org/10.4028/www.scientific.net/amr.102-104.363.

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This paper obtained the inverse kinematics model through performing kinematic analysis of 6-DOF parallel kinematic machine (PKM) via the MATLAB software. On the basis of that, kinematics inverse module in EMC2(Enhanced Machine Controller) is recompiled and verified through CNC machining simulation, which set up an important foundation for later prototype construction and motor output control.

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19

Hu, Ming, and Jia Shun Shi. "The Kinematics Analysis of the 3-PTT Parallel Machine Tools." Applied Mechanics and Materials 701-702 (December 2014): 784–87. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.784.

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This paper presents the kinematics for 3-PTT parallel machine tools, the kinematic is analytically performed, the forward and inverse position kinematic equations are explicit functions and workspace is derived and there is no singularity configuration and kinematic coupling in the whole workspace. The manipulability analytical of the parallel machine tool is investigated by the Jacobian matrix.

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20

Tiongco, Maria A., Enrico Vesperini, and Anna Lisa Varri. "Kinematical evolution of multiple stellar populations in star clusters." Monthly Notices of the Royal Astronomical Society 487, no. 4 (2019): 5535–48. http://dx.doi.org/10.1093/mnras/stz1595.

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ABSTRACT We present the results of a suite of N-body simulations aimed at understanding the fundamental aspects of the long-term evolution of the internal kinematics of multiple stellar populations in globular clusters. Our models enable us to study the cooperative effects of internal, relaxation-driven processes and external, tidally induced perturbations on the structural and kinematic properties of multiple-population globular clusters. To analyse the dynamical behaviour of the multiple stellar populations in a variety of spin-orbit coupling conditions, we have considered three reference ca

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21

Wang, Michael Yu, Tong Liu, and Diana M. Pelinescu. "Fixture Kinematic Analysis Based on the Full Contact Model of Rigid Bodies." Journal of Manufacturing Science and Engineering 125, no. 2 (2003): 316–24. http://dx.doi.org/10.1115/1.1557293.

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The conventional point-kinematic model of fixtures has only treated point geometry of the contacts between locators and workpiece. However, this model, which ignores the underlying surface properties of the locators-plus-workpiece system, is inherently incapable of capturing the effects of the geometric properties important to accurate positioning of the workpiece. In this paper, we present a fixture kinematic analysis based on the full kinematics of locator-workpiece contact. This model incorporates a “virtual” kinematic chain with meshing parameters of contact kinematics in a velocity formul

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22

Hroncová, Darina, Ingrid Delyová, Peter Sivák, and Vojtech Neumann. "THE DESIGN OF MOVEMENT OF THE ROBOT MODEL IN STRUCTURED ENVIRONMENT USING MSC ADAMS." Acta Mechatronica 6, no. 1 (2021): 1–5. http://dx.doi.org/10.22306/am.v6i1.72.

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In this work, the issue of kinematic analysis of the open kinematic chain of an industrial robot is discussed. The aim of the work lies in the kinematic analysis of the robot and the display of kinematic quantities in the work process. Transformation matrices of coordinate systems of individual members are determined for the solution by the matrix method. The direct method of kinematics using the MSC Adams View program is solved. The result is a graphical representation of the kinematic variables of the mechanical system of the end point of the effector and trajectory when moving in its workin

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Yang, Qiang, Hongkun Ma, Jiaocheng Ma, Zhili Sun, and Cuiling Li. "Sensitivity Analysis of Reliability of Low-Mobility Parallel Mechanisms Based on a Response Surface Method." Applied Sciences 11, no. 19 (2021): 9002. http://dx.doi.org/10.3390/app11199002.

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Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the kinematic accuracy analysis of parallel mechanisms typically ignore the randomness of each component of input error, leading to imprecise conclusions. In this paper, we use homogeneous transforms to develop the inverse kinematics models of an improved Delta parallel mechanism. Based on the inverse kinematics and the first-order Taylor approximation,

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Nagao, Keisuke, Nobuaki Fujiki, Yoshitaka Morimoto, and Akio Hayashi. "Calibration Method of Parallel Mechanism Type Machine Tools." International Journal of Automation Technology 14, no. 3 (2020): 429–37. http://dx.doi.org/10.20965/ijat.2020.p0429.

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This paper proposes a calibration method for a parallel mechanism type machine tool (XMINI, Exechon Enterprises L.L.C.). In this method, the kinematic parameters are calculated using forward kinematics and the least squares method from the results obtained by a coordinate measuring machine. By using an articulated arm coordinate measuring machine (AACMM), we can measure a wide space, and the measuring machine position do not have to be determined strictly. This paper provides a solution for the forward kinematics problem to identify the kinematic parameters. The results from the kinematic para

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Hu, Bo, Bo Li, and He Cui. "Design and kinematics analysis of a novel serial–parallel kinematic machine." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 18 (2016): 3331–46. http://dx.doi.org/10.1177/0954406215624450.

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A novel serial–parallel kinematic machine based on a serial–parallel manipulator is proposed and its kinematics and statics are studied systematically. First, the concept of serial–parallel kinematic machine formed by the 3-PRS parallel manipulator and the 2-UPR + SPR PM is proposed. Second, the displacement is derived in close form based on the geometrical and dimensional constraints existed in the serial–parallel kinematic machine. Third, the Jacobian, velocity and statics of the serial–parallel kinematic machine are derived in the explicit and compact form. Finally, the formulas for solving

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Davis, RO, and RJ Siemers. "Derivation and reliability of kinematic measures of sperm motion." Reproduction, Fertility and Development 7, no. 4 (1995): 857. http://dx.doi.org/10.1071/rd9950857.

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Studies of sperm movement are relevant in the diagnosis of sperm function and in investigations of cellular biology. Such studies have been traditionally performed by analysing the kinematics of the flagellum or the head. Analysis of the flagellum can provide insights into the cell biological mechanisms responsible for the control of movement. However, the mathematical correspondence between head kinematics and flagellum kinematics is not unique. Therefore, it is not possible to use head kinematics to obtain detailed insights into cell mechanisms or physiology. The accuracy and precision of ki

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Kifayat Mammadova, Aytan Aliyeva, Kifayat Mammadova, Aytan Aliyeva, and Nigar Baghirova Nigar Baghirova. "CONSTRUCTION OF THE KINEMATIC MODEL OF ROBOTIC SYSTEMS IN THE MATLAB ENVIRONMENT." ETM - Equipment, Technologies, Materials 16, no. 04 (2023): 67–75. http://dx.doi.org/10.36962/etm16042023-67.

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Robotics has become relatively accessible with low-cost projects, but there is still a need to create models that accurately represent the robot's physical behavior. Creating a virtual platform allows us to test behavioral algorithms using artificial intelligence. In addition, it will enable us to find potential problems in the physical design of the robot. The article describes the methodology of building a kinematic model and simulation of an autonomous robot. The development of a kinematic model and its implementation using several tools are presented. The environment used for the experimen

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Limanuel, Fransisko, Calvin Susanto, and Ferry Rippun Gideon Manalu. "Design and Implementation of 6 DOF ROTARIC Robot Using Inverse Kinematics Method." Jurnal Elektro 13, no. 2 (2021): 125–34. http://dx.doi.org/10.25170/jurnalelektro.v13i2.1930.

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This paper will discuss the calculation of inverse kinematic which will be used to control the 6-DOF articulated robot. This robot consists of 6 Dynamixel MX-28 smart servo with OpenCM 9.04 microcontroller. The articulated robot has been simplified to 4-DOF because there are no obstacles in the work area and no special movements are required. The calculation method uses the intersection point equation between the ball and the line, so that it can make it easier to determine the point in calculating the kinematic inverse. The experiment is carried out using the desired position as input for the

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Cai, Lin. "Kinematic Analysis of 5-UPS Parallel Machine Tool Based on Adams." Applied Mechanics and Materials 644-650 (September 2014): 215–19. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.215.

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In this paper, the kinematics of 5-UPS parallel machine tool is analyzed, and a kinematic analysis method combining kinematic analysis and computer kinematics software is proposed. Under the premise that the parallel machine tool sector parameters is known, firstly we use the vector method to establish a mathematical model of inverse kinematics, and in accordance with a U-shaped processing trajectory the inverse solution is calculated; Secondly, three-dimensional model of the parallel machine tool is modeled in Adams, and kinematic constraints are set correctly; Finally, the inverse kinematics

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Han, Ziyong, Shihua Yuan, Xueyuan Li, and Junjie Zhou. "Enhanced closed-loop systematic kinematics analysis of wheeled mobile robots." International Journal of Advanced Robotic Systems 16, no. 4 (2019): 172988141986324. http://dx.doi.org/10.1177/1729881419863242.

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The traditional homogeneous transform maintains central position in the kinematic modelling of robotics. However, for these kinematic modelling of wheeled mobile robots over uneven terrain, the homogeneous transform that represents angular velocity implicitly in the time derivative of the rotation matrix has a drawback in orientation representation. In this article, to improve the angular representation, a new general systematic method for kinematics modelling and analysis of wheeled mobile robot is proposed. The approach uses the Sheth–Uicker convention and loop-closure kinematic chains to de

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Xin, Shi Zhi, Luo Yu Feng, Hang Lu Bing, and Yang Ting Li. "A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot." Journal of Mechanical Design 129, no. 8 (2006): 793–98. http://dx.doi.org/10.1115/1.2735636.

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The inverse kinematic analysis of the general 6R serial robot has been a very significant and important problem in the theory of the spatial mechanisms. Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on a one-dimension searching algorithm. All the real solutions to inverse kinematics problems of the general 6R serial robot or forward kinem

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Jatsun, S. F., and Yan Naing Soe. "KINEMATIC AND JACOBIAN ANALYSIS APPROACH FOR THE FOUR-LEGGED ROBOT." Proceedings of the Southwest State University 22, no. 4 (2018): 32–41. http://dx.doi.org/10.21869/2223-1560-2018-22-4-32-41.

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This paper presents forward kinematics, inverse kinematics and Jacobian analysis of four-legged robot research. The kinematics analysis is the main problem of the legged robot. The four-legged robots are very complex more than wheeled robots. In this study,the four-legged robot of each leg calculates Denavit-Hartenberg (D-H) method,that is used for forward kinematics and the inverse is used the geometrical and mathematical methods.The Kinematic divided into two categories Forward Kinematic and Inverse Kinematics. The forward kinematic is calculated we knew the leg of endpoint position for the

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33

Siradjuddin, Indrazno, Gilang Al Azhar, Anggit Murdani, and Mukhamad Luqman Muttaqin Faizin. "Desain dan pemodelan kontrol kinematik pergerakan robot beroda dengan menggunakan 6 roda omni-wheels." JURNAL ELTEK 18, no. 1 (2020): 116. http://dx.doi.org/10.33795/eltek.v18i1.226.

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Pengembangan desain kontrol kinematic sangatlah penting dalam pengembangan kontrol untuk robot beroda. Hal ini sangat dibutuhkan mengingat bahwa robot beroda memiliki banyak parameter yang mampu merubah persamaan kontrol kinematiknya terutama pada kontrol kinematik untuk robot beroda dengan jenis roda omnidirectional, baik dari segi jenis roda yang digunakan hingga jumlah roda penggerak yang digunakan. Dengan berbagai macam hal yang dapat merubah persamaan kontrol kinematiknya, maka pada makalah ini dibuat sebuah persamaan kontrol kinematik yang general, yang dapat diaplikasikan untuk berbagai

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Cui, Bing Yan, and Zhen Lin Jin. "Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint." Advanced Materials Research 69-70 (May 2009): 585–89. http://dx.doi.org/10.4028/www.scientific.net/amr.69-70.585.

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The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the gl

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Yang, Qiang, Zhi Li Sun, Dong Liang Lei, and Peng Zhou. "Kinematic Reliability and Sensitivity Analysis of Delta Parallel Mechanism." Advanced Materials Research 118-120 (June 2010): 546–50. http://dx.doi.org/10.4028/www.scientific.net/amr.118-120.546.

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Kinematic accuracy is an important index to evaluate the quality of mechanisms. Kinematic reliability is a significant standard to examine dynamic kinematic accuracy of mechanisms. Having deduced inverse kinematics and calculated model for position errors of Delta mechanism, kinematic reliability of the mechanism is calculated considering the randomness of every error components. Analytic method sensitivity analysis is adopted to describe contribution of the randomness of each error component to kinematic reliability of the mechanism, and the calculating approach is exactly given that the sens

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Harding, Paul, and Heather Morrison. "The Bulge/Halo interface rotational kinematics from [Fe/H] = −3.0 to Solar." Symposium - International Astronomical Union 153 (1993): 297–98. http://dx.doi.org/10.1017/s0074180900123332.

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Kinematics and abundances have been determined for a large sample of K giants in a field at ∼2 kpc from the center to study the relationship between the bulge and the halo. There are two different kinematic groups evident. The metal-poor stars have low rotation and high velocity dispersion, and so can be associated with the halo. The metal-richer stars have intermediate rotation. Our data suggest that the bulge and halo could be separate kinematical entities.

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Pllana, Gani, and Sadete Pllana. "Overview of Basic Terms of Technical Lexis of Mechanics in the Albanian Language." European Journal of Language and Literature 4, no. 4 (2018): 66. http://dx.doi.org/10.26417/ejls.v4i4.p66-71.

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The subject of the study in this paper is the basic terms of the field of mechanics as a broad field, understanding with this concept not only nouns with nominal base, like pair and kinematic pair, but also other units that can be called terms if they are seen from a certain perspective when connected to the system by terms of nouns or when expressing the specifics of the field as kinematics (adj.) - kinematic (adv.) - shifting (v.), in Albanian kinematik-e (mb.) – kinematikisht (ndajf.) – zhvendoset (fol.). As it is well known in the compilation of terminology dictionaries, both criteria appl

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Hwang, Yunn Lin, Thi Na Ta, and Cao Sang Tran. "Dynamic Analysis and Control of Hydraulic Machine System and Industrial Robotic Manipulators." Applied Mechanics and Materials 883 (July 2018): 1–7. http://dx.doi.org/10.4028/www.scientific.net/amm.883.1.

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Dynamic control on hydraulic machine system and kinematic control on industrial robotic manipulators are two studied topics in this research. The main objective of this study is to analyze dynamic, forward kinematic and inverse kinematic on a couple of mechanical systems and hydraulic mechanical systems in order to control these machines. The characteristics of hydraulic and manipulator robot parameters are firstly calculated by using dynamic theories. In the former topic, we perform an example on CNC machine tools which is designing a hydraulic controller to move a cutting tool along a circul

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Chang, De Gong, Lu Sun, and Bin Zuo. "Kinematic Simulation of the Tripod Universal Joint with or without Gap." Key Engineering Materials 501 (January 2012): 306–10. http://dx.doi.org/10.4028/www.scientific.net/kem.501.306.

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In this paper, based on the structural features of twin tripod sliding universal joint, by using the CAD software Pro/E technology, the author first established the three-dimensional solid model of the twin tripod sliding universal joint, then compared the kinematics analysis under the following two circumstances ,that is, with or without a clearance of kinematic pairs and obtained the kinematical regularities of various components of the twin tripod sliding universal joint, which can provide a theoretical basis for the further research of the impact of the clearance on the tripod universal jo

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Lin, Cheng-Chung, Hsuan-Lun Lu, Tung-Wu Lu, et al. "Reconstruction of Three-Dimensional Tibiofemoral Kinematics Using Single-Plane Fluoroscopy and a Personalized Kinematic Model." Applied Sciences 11, no. 20 (2021): 9415. http://dx.doi.org/10.3390/app11209415.

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Model-based 3D/2D image registration using single-plane fluoroscopy is a common setup to determine knee joint kinematics, owing to its markerless aspect. However, the approach was subjected to lower accuracies in the determination of out-of-plane motion components. Introducing additional kinematic constraints with an appropriate anatomical representation may help ameliorate the reduced accuracy of single-plane image registration. Therefore, this study aimed to develop and evaluate a multibody model-based tracking (MbMBT) scheme, embedding a personalized kinematic model of the tibiofemoral join

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An, Jiping, Xinhong Li, Zhibin Zhang, et al. "A Novel Method for Inverse Kinematics Solutions of Space Modular Self-Reconfigurable Satellites with Self-Collision Avoidance." Aerospace 9, no. 3 (2022): 123. http://dx.doi.org/10.3390/aerospace9030123.

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Space modular self-reconfigurable satellites (SMSRSs) are a new type of satellite with reconfigurable structures and adjustable functions. The inverse kinematics of the hyper-redundant structure of SMSRSs are difficult to solve by traditional methods. In this paper, the inverse kinematics of SMSRS is transformed into an optimization problem and solved using the optimization method. Moreover, the avoidance of self-collision is implemented in the optimization process. Firstly, the kinematic model of SMSRS is established. Then, to find the more accurate inverse kinematics solutions, a novel Segme

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Cui, Guohua, Muyuan Sun, Liang Yan, Hongjuan Hou, and Haiqiang Zhang. "Kinematic Reliability Solution of 3-UPS-PU Parallel Mechanism Based on Monte Carlo Simulation." Open Mechanical Engineering Journal 9, no. 1 (2015): 324–32. http://dx.doi.org/10.2174/1874155x01509010324.

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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 curves of the position and orientation output errors can be plotted with a large batch production by adopting Monte-Carlo simulation method. Then kinematic reliability of the mechanism can be solved thro

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Campos, A., R. Guenther, and D. Martins. "Differential kinematics of parallel manipulators using Assur virtual chains." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 223, no. 7 (2009): 1697–711. http://dx.doi.org/10.1243/09544062jmes1156.

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This article introduces the concept of Assur virtual chains and its applications in differential kinematics of parallel manipulators. Using Assur virtual chains, the differential kinematics has a simple matricial formulation and the choice between direct and inverse kinematics is reduced to select primary variables in a homogeneous linear system. Assur virtual chains are also useful for obtaining information about the relative movements or to imposing particular kinematic constraints between two links of a kinematic chain. Additionally, a new systematic algorithm is established to analytically

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Liu, Shao Gang, and Farah Edris. "Forward Kinematics Simulation for a Surgical Robot Using CATIA 5." Journal of Biomimetics, Biomaterials and Biomedical Engineering 22 (March 2015): 21–28. http://dx.doi.org/10.4028/www.scientific.net/jbbbe.22.21.

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Forward Kinematic simulation of a 6 DOF surgical robot tracking a path through the constraint of the Remote Center of Motion point (RCM) is developed in this paper. Theoretical calculations of the forward kinematics are analyzed by solving the configuration kinematic equations of the robot. CAD prototype of the surgical robot and the patient are created using CATIA5 part and assembly tools. The theoretical results are validated through a Kinematic simulation of CATIA kinematics. The simulation results confirm the usefulness of the six revolute joint robots in minimally invasive surgery (MIS) a

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Surriani, Atikah, Oyas Wahyunggoro, and Adha Imam Cahyadi. "Inverse kinematic solution and singularity avoidance using a deep deterministic policy gradient approach." IAES International Journal of Artificial Intelligence (IJ-AI) 13, no. 3 (2024): 2999. http://dx.doi.org/10.11591/ijai.v13.i3.pp2999-3009.

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<p>The robotic arm emerges as a subject of paramount significance within the industrial landscape, particularly in addressing the complexities of its kinematics. A significant research challenge lies in resolving the inverse kinematics of multiple degree of freedom (M-DOF) robotic arms. The inverse kinematics of M-DOF robotic arms pose a challenging problem to resolve, thus it involves consideration of singularities which affect the arm robot movement. This study aims a novel approach utilizing deep reinforcement learning (DRL) to tackle the inverse kinematic problem of the 6-DOF PUMA ma

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Atikah, Surriani, Wahyunggoro Oyas, and Imam Cahyadi Adha. "Inverse kinematic solution and singularity avoidance using a deep deterministic policy gradient approach." IAES International Journal of Artificial Intelligence (IJ-AI) 13, no. 3 (2024): 2999–3009. https://doi.org/10.11591/ijai.v13.i3.pp2999-3009.

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The robotic arm emerges as a subject of paramount significance within the industrial landscape, particularly in addressing the complexities of its kinematics. A significant research challenge lies in resolving the inverse kinematics of multiple degree of freedom (M-DOF) robotic arms. The inverse kinematics of M-DOF robotic arms pose a challenging problem to resolve, thus it involves consideration of singularities which affect the arm robot movement. This study aims a novel approach utilizing deep reinforcement learning (DRL) to tackle the inverse kinematic problem of the 6-DOF PUMA manipulator

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Weast-Knapp, Julie A., Kevin Shockley, Michael A. Riley, et al. "Perception of another person’s maximum reach-with-jump height from walking kinematics." Quarterly Journal of Experimental Psychology 72, no. 8 (2019): 2018–31. http://dx.doi.org/10.1177/1747021818821935.

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Humans can perceive affordances (possibilities for action) for themselves and others, including the maximum overhead height reachable by jumping (reach-with-jump height, RWJ). While observers can accurately perceive maximum RWJ for another person without previously seeing the person jump, estimates improve after viewing the person walk, suggesting there is structure in walking kinematics that is informative about the ability to produce vertical force for jumping. We used principal component analysis (PCA) to identify patterns in human walking kinematics that specify another person’s maximum RW

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de Oliveira, Andre Schneider, Edson Roberto De Pieri, and Ubirajara Franco Moreno. "A new method of applying differential kinematics through dual quaternions." Robotica 35, no. 4 (2015): 907–21. http://dx.doi.org/10.1017/s0263574715000880.

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SUMMARYDifferential kinematics is a traditional approach to linearize the mapping between the workspace and joint space. However, a Jacobian matrix cannot be inverted directly in redundant systems or in configurations where kinematic singularities occur. This work presents a novel approach to the solution of differential kinematics through the use of dual quaternions. The main advantage of this approach is to reduce “drift” error in differential kinematics and to ignore the kinematic singularities. An analytical dual-quaternionic Jacobian is defined, which allows for the application of this ap

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Yir, Khor Ching, Haslina Arshad, and Elankovan Sundararajan. "Offline Programming to Control Robot Manipulator in Virtual Kinematic Learning Tool." Advanced Materials Research 845 (December 2013): 740–44. http://dx.doi.org/10.4028/www.scientific.net/amr.845.740.

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Robot programming demands skilled robot programmers. Conventional methods of robot programming include teaching robot using the teach pendant and the high level programming language. Teaching robot kinematics and solving kinematic problems are complex and they involve robot programming. With the advancement of computer and robotic technologies, this can be solved via computer simulation. In this paper, an approach for programming the robots manipulator via an offline virtual kinematic learning tool is proposed. A virtual system is developed which has a user interface for users to improve the k

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Kong, Ying, Ruiyang Zhang, Yunliang Jiang, and Xiaoyun Xia. "A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application." Complexity 2019 (July 31, 2019): 1–16. http://dx.doi.org/10.1155/2019/8642027.

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For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks. To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang neural network (TTZNN) with finite-time convergence is proposed for inverse kinematics of mobile manipulators. It takes the advantages that each joint of the manipulator is required t

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