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Journal articles on the topic 'Six degrees of freedom (6-DOF)'

Author: Grafiati

Published: 7 June 2025

Last updated: 2 August 2025

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1

Reddy, B. Nithin. "Mechanical Design and Analysis of Six-Degree-of-Freedom (6-DOF) SCARA Robot for Industrial Applications." International Journal for Research in Applied Science and Engineering Technology 12, no. 4 (2024): 6080–87. http://dx.doi.org/10.22214/ijraset.2024.59008.

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Abstract: A six-degree-of-freedom (6-DOF) SCARA robot is an advanced robotic system capable of moving and manipulating objects in a three-dimensional space with a high degree of precision and flexibility. The term "SCARA" stands for "Selective Compliance Articulated Robot Arm," indicating its design that allows a combination of rigidity and compliance along specific axes. This unique combination of features makes 6-DOF SCARA robots highly versatile and suitable for a wide range of industrial applications. Unlike traditional SCARA robots that typically have four degrees of freedom, the addition

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2

Liu, Yong Qiu, Ying Xin Zhai, and Xiao Feng Liu. "Dynamic Characteristics Analysis of Simulator Six-DOF Platform." Applied Mechanics and Materials 651-653 (September 2014): 716–19. http://dx.doi.org/10.4028/www.scientific.net/amm.651-653.716.

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Six degrees of freedom motion platform is an important part of the flight simulator. To study the dynamic characteristics of the simulator, the paper carried a six degree of freedom motion platform dynamics analysis, and proposed fuzzy PID control strategy, and through the ADAMS software to establish a simulation model of six degrees of freedom motion platform, simulation results show that the use of strategy has good control effect for the simulator is designed to provide some reference.

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3

Ogbobe, P. O., C. N. Okoye, and N. S. Akonyi. "Cross coupling effects of modal space decoupling control for six degree of freedom 6-DOF parallel mechanism (6 DOF PM)." Nigerian Journal of Technology 41, no. 2 (2022): 229–35. http://dx.doi.org/10.4314/njt.v41i2.4.

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This study presented the performance of an alternative and effective control strategy through a decoupled controller by an input and an output transformation matrix, such that each Degrees of Freedom can be tuned independently with their bandwidth raised near to the eigenfrequencies. The simulation results of the Modal Space Decoupled Controller were analyzed in Matlab/Simulink environment and comparison made between the conventional PID controllers based on cross coupling effects. The results indicate that the conventional joint space conforms to the theoretical analysis when the compensation

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4

Vaida, Calin, Nicolae Plitea, Dorin Lese, and Doina Liana Pisla. "A Parallel Reconfigurable Robot with Six Degrees of Freedom." Applied Mechanics and Materials 162 (March 2012): 204–13. http://dx.doi.org/10.4028/www.scientific.net/amm.162.204.

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Shorter development times, wide variety of products and manufacturing costs optimization lead towards the development of a new type of robots that are more flexible and adaptable to all these changes. The idea of reconfiguration is thus born, many studies being focused on enlarging and improving this concept. Reconfigurable robotic systems are those that can change their geometry, their mobility degree and be default, their workspace and their applicability. This paper presents a 6 degrees of freedom (DOF) reconfigurable robot, entitled RECROB, its kinematics and possible reconfigurations with

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Khambra, Sourabh, Bittagopal Mondal, and Dipankare Chatterje. "Predicting the Dynamics and Trajectory of a Projectile using a Six Degrees of Freedom Model." Defence Science Journal 74, no. 6 (2024): 848–56. https://doi.org/10.14429/dsj.74.19853.

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6

Prunaretty, Jessica, Nicolas Mir, Anaïs Tilhac, et al. "Robustness of Breast Margins with Volumetric Modulated Arc Therapy without a Six-Degrees-of-Freedom Couch: A Dosimetric Evaluation." Journal of Clinical Medicine 12, no. 3 (2023): 862. http://dx.doi.org/10.3390/jcm12030862.

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In our hospital, a TrueBeam linear accelerator and the PerfectPitch 6-degrees-of-freedom (6-DOF) couch (Varian), with 7 mm margins, are used for volumetric modulated arc therapy (VMAT) of breast cancer (BC). This study tested whether a 3-degrees-of-freedom (3-DOF) couch, i.e., without rotation compensation (such as the Halcyon couch), affected dose metrics. A total of 446 daily extended cone beam computed tomography (CBCT) data of 20 patients who received VMAT for BC were used to recalculate the treatment plans with the session registration (6-DOF) and a simulated matching with 3-DOF. The init

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7

Jie, Liu, Tang Yi, Li Hua Li, Xian Fei Li, and Xiao Dong Liang. "Dynamics Analysis of 6-DOF Platform under the Condition of Unbalanced Force." Applied Mechanics and Materials 274 (January 2013): 658–62. http://dx.doi.org/10.4028/www.scientific.net/amm.274.658.

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During the use of 6－DOF(six degrees of freedom) platform the gravity center of force tends to deviate from the center of the upper platform, resulting in six rods are forced unbalanced. This paper firstly introduces the characteristics of the 6－DOF platform, then establishes simulation model of platform through the PRO/E software, and analyses the kinematics of platform by use of the ADAMS (Automatic Dynamics Analysis of Mechanical System) software, finally proceeds with dynamics analysis of six rods in unbalanced condition.Those will get the influence degree of rods under the unbalanced force

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8

Joshi, Sameer A., and Lung-Wen Tsai. "Jacobian Analysis of Limited-DOF Parallel Manipulators." Journal of Mechanical Design 124, no. 2 (2002): 254–58. http://dx.doi.org/10.1115/1.1469549.

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This paper presents a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators. A limited-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees-of-freedom. It is shown that a 6×6 Jacobian matrix, which provides information about both architecture and constraint singularities, can be derived by making use of the theory of reciprocal screws. The 3-UPU and 3-RPS parallel manipulators are used as examples to demonstrate the methodology.

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9

Takamasu, Kiyoshi. "Measurement System for Multiple Degrees of Freedom Moving Robot." Journal of Robotics and Mechatronics 5, no. 5 (1993): 453–56. http://dx.doi.org/10.20965/jrm.1993.p0453.

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The multiple degrees of freedom (multi-DOF) moving robot and its measurement system have been developed realize a positioning system with high flexibility. The multi-DOF robot is driven by six piezo-electric devices; and it moves in two modes, an absolute motion mode and a relative motion mode. In the absolute motion mode, it walks on a surface plate by a two-dimensional inchworm method having 3-DOF, in X and Y directions and a rotation. After a frame body is fixed, a center table can be positioned on 6-DOF. For measuring its position, the novel position measurement system has been developed.

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10

Chen, Wen Jia, Yan Zhong He, and Jiang Zhang. "A Four Degrees of Freedom Parallel Manipulator for Machining." Advanced Materials Research 139-141 (October 2010): 2168–71. http://dx.doi.org/10.4028/www.scientific.net/amr.139-141.2168.

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In the past decades, a number of parallel manipulators have been extensively studied. However, most efforts are dedicated to six degrees of freedom (DOF) or three-DOF manipulators. There is a need for equipment providing more than three DOF's arranged in parallel and based on simpler arrangements than six-DOF arrangements in application. This paper presents a novel four-DOF parallel platform manipulator with base mounted prismatic actuators. The manipulator is driven by four linear actuators. The movable platform of the manipulator can translate along two directions and rotate around two axes

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11

Hale, Michael. "A 6-DOF Vibration Specification Development Methodology." Journal of the IEST 54, no. 2 (2011): 103–15. http://dx.doi.org/10.17764/jiet.54.2.j6tr2r787846931n.

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Multiple degree of freedom (MDOF) excitation systems and MDOF vibration control systems continue to improve, and are now standard equipment in many dynamic test laboratories. This paper concentrates on the often overlooked process of determination of an input specification for such MDOF systems. A pair of generalized six-degree-of-freedom (6-DOF) vibration specification development (VSD) techniques are proposed, discussed, and illustrated through an example.

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12

Laryushkin, P. A. "SINGULARITY ANALYSIS OF THE HEXAGLIDE-TYPE PARALLEL MECHANISM WITH SIX DEGREES OF FREEDOM." Spravochnik. Inzhenernyi zhurnal, no. 303 (June 2022): 31–37. http://dx.doi.org/10.14489/hb.2022.06.pp.031-037.

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In this paper singularity analysis of the 6-DOF mechanism with six identical PUS chains is presented. Bydifferentiating constraint equations and Jacobian analysis parts of the workspace that correspond to singular configurations are found. Closeness to singularity is analysed using velocity and force criteria.

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13

Li, Bing. "The Obstacle Avoidance Path Planning of Six Degrees of Freedom." Applied and Computational Engineering 149, no. 1 (2025): 82–91. https://doi.org/10.54254/2755-2721/2025.kl22358.

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In the rapidly advancing field of robotics, motion planning and control of robotic arms have emerged as critical research areas, driven by their widespread applications in manufacturing, healthcare, and automation. This paper focuses on single and six-degree-of-freedom (DOF) robotic arm systems, implementing a motion control method based on S-type velocity planning. S-type planning divides the arms motion into three distinct phases: acceleration, uniform velocity, and deceleration. This approach ensures smooth transitions between phases, avoids abrupt acceleration changes, and significantly re

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14

Dunning, A. G., N. Tolou, and J. L. Herder. "Review Article: Inventory of platforms towards the design of a statically balanced six degrees of freedom compliant precision stage." Mechanical Sciences 2, no. 2 (2011): 157–68. http://dx.doi.org/10.5194/ms-2-157-2011.

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Abstract. For many applications in precision engineering, a six degrees of freedom (DoF) compliant stage (CS) with zero stiffness is desirable, to deal with problems like backlash, friction, lubrication, and at the same time, reduce the actuation force. To this end, the compliant stage (also known as compliant mechanism) can be statically balanced with a stiffness compensation mechanism, to compensate the energy stored in the compliant parts, resulting in a statically balanced compliant stage (SBCS). Statically balanced compliant stages can be a breakthrough in precision engineering. This pape

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15

Fung, R.-F., C.-T. Fan, and W.-C. Lin. "Design and analysis of a novel six-degrees-of-freedom precision positioning table." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 223, no. 5 (2008): 1203–12. http://dx.doi.org/10.1243/09544062jmes1284.

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The purpose of this study is to design and analyse a novel six-degrees-of-freedom (DOF) precision positioning table, which is assembled by two different kinds of three-DOF precision positioning tables: a plane-type three-DOF ( X, Y, θ z) precision positioning table and a cylinder-type three-DOF (θ x, θ y, Z) one, and each table is driven by three piezoelectric actuators (PAs). In this paper, the Bouc—Wen model is employed to describe the hysteretic phenomenon of the PAs. The transfer matrices with cross-coupling terms between the output displacements and input voltages are derived from the dyn

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16

Kim, Joon-young, James K. Mills, Albert H. Vette, and Milos R. Popovic. "Optimal Combination of Minimum Degrees of Freedom to be Actuated in the Lower Limbs to Facilitate Arm-Free Paraplegic Standing." Journal of Biomechanical Engineering 129, no. 6 (2007): 838–47. http://dx.doi.org/10.1115/1.2800767.

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Arm-free paraplegic standing via functional electrical stimulation (FES) has drawn much attention in the biomechanical field as it might allow a paraplegic to stand and simultaneously use both arms to perform daily activities. However, current FES systems for standing require that the individual actively regulates balance using one or both arms, thus limiting the practical use of these systems. The purpose of the present study was to show that actuating only six out of 12 degrees of freedom (12-DOFs) in the lower limbs to allow paraplegics to stand freely is theoretically feasible with respect

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17

Shu, Wenbin, Haonan Yan, and Lijun Meng. "Kinematic analysis and simulation of 6-DOF vehicle driving simulator." Journal of Physics: Conference Series 2137, no. 1 (2021): 012035. http://dx.doi.org/10.1088/1742-6596/2137/1/012035.

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Abstract In order to reasonably design the six degrees of freedom turntable (hereinafter referred to as the transfer table), based on the structure size and motion index parameters of the turntable, The motion mechanics calculation model was established to simulate and analyze the mechanical variation curve of singing platform under different motion modes. The analysis shows that when the upper platform load and the component mass are 3000 kg, the maximum action force of the rotating platform support moving cylinder is 1376.4 kg.

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18

Krakhmalev, Oleg, Nikita Krakhmalev, Sergey Gataullin, et al. "Mathematics Model for 6-DOF Joints Manipulation Robots." Mathematics 9, no. 21 (2021): 2828. http://dx.doi.org/10.3390/math9212828.

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A universal solution to an applied problem related to the study of deviations occurring in the joints of manipulation robots, for example, due to elastic deformations or gaps in them, is proposed. A mathematical (dynamic) model obtained by the Lagrange–Euler method is presented, making it possible to investigate such deviations. Six generalized coordinates, three linear and three angulars, were used to describe the variations of each joint in the dynamic model. This made it possible to introduce into consideration joints with six degrees of freedom (6-DOF joints). In addition, mathematical mod

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19

Huang, Xuan, Lingbao Kong, and Guangxi Dong. "Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators." Applied Sciences 11, no. 21 (2021): 10100. http://dx.doi.org/10.3390/app112110100.

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Six degree-of-freedom (6-DOF) robotic manipulators have been increasingly adopted in various applications in industries due to various advantages, such as large operation space, more degrees of freedom, low cost, easy placement, and convenient programming. However, the robotic manipulator has the problem of insufficient stiffness due to the series structures, which will cause motion errors of the manipulator end. In this paper, taking a 6-DOF robotic manipulator as an example, forward and inverse kinematics models are established, and a new modeling method for the joint angle and space stiffne

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20

Condurache, Daniel. "A Full-Body Relative Orbital Motion of Spacecraft Using Dual Tensor Algebra and Dual Quaternions." Mathematics 11, no. 6 (2023): 1366. http://dx.doi.org/10.3390/math11061366.

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This paper proposes a new non-linear differential equation for the six degrees of freedom (6-DOF) relative rigid bodies motion. A representation theorem is provided for the 6-DOF differential equation of motion in the arbitrary non-inertial reference frame. The problem of the 6-DOF relative motion of two spacecraft in the specific case of Keplerian confocal orbits is proposed. The result is an analytical method without secular terms and singularities. Tensors dual algebra and dual quaternions play a fundamental role, with the solution representation being the relative problem. Furthermore, the

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21

Cherchelanov, Edelvays, and Ilian A. Bonev. "A novel three-legged 6-DOF parallel robot with simple kinematics." Transactions of the Canadian Society for Mechanical Engineering 44, no. 4 (2020): 558–65. http://dx.doi.org/10.1139/tcsme-2019-0189.

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This paper presents a novel three-legged six degrees of freedom (6-DOF) parallel robot with simple kinematics. The main idea behind this novel architecture is that each of the three identical legs is controlled by two prismatic actuators with parallel directions. As a result, it is possible to control simultaneously or separately the position and the orientation of a leg. The reduced number of legs leads to a simple mechanical design with reduced risk for mechanical interferences.

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22

Lin, Shuai, Junhui Yu, Peng Su, et al. "GFA-Net: Geometry-Focused Attention Network for Six Degrees of Freedom Object Pose Estimation." Sensors 25, no. 1 (2024): 168. https://doi.org/10.3390/s25010168.

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Six degrees of freedom (6-DoF) object pose estimation is essential for robotic grasping and autonomous driving. While estimating pose from a single RGB image is highly desirable for real-world applications, it presents significant challenges. Many approaches incorporate supplementary information, such as depth data, to derive valuable geometric characteristics. However, the challenge of deep neural networks inadequately extracting features from object regions in RGB images remains. To overcome these limitations, we introduce the Geometry-Focused Attention Network (GFA-Net), a novel framework d

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23

Mao, Renhao, Shujian Sun, and Jiakun Lei. "An approximate optimal control method for 6-DOF spacecraft." Journal of Physics: Conference Series 2746, no. 1 (2024): 012055. http://dx.doi.org/10.1088/1742-6596/2746/1/012055.

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Abstract In this paper, an approximate optimal control method based on adaptive dynamic programming (ADP) is proposed for the proximity operations with six degrees of freedom (6-DOF) relative motion control of spacecraft. Firstly, the dynamic model is normalized and dimension-reduced to avoid the excessive gradient change of the neural network. Then, a nonlinear disturbance observer is designed to deal with the disturbance. Finally, using ADP ‘s reinforcement learning idea, a single-critic neural network is constructed to solve the approximate optimal control strategy and minimize the cost fun

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24

Wang, Min, Cai Dong Wang, Hui Zheng, and Guo Feng Fan. "Design of the Hydraulic System for Carrying Manipulator with 6-DOF." Advanced Materials Research 989-994 (July 2014): 2802–6. http://dx.doi.org/10.4028/www.scientific.net/amr.989-994.2802.

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According to the requirements for wheel hub assembly line, the structure and hydraulic system of carrying manipulator with six degrees of freedom (DOF) is designed. The working principle of the hydraulic system is analyzed. To minimize the output force of the hydraulic cylinder, a mathematical model of hydraulic cylinder output force and structural parameters is established. And then the manipulator structure is optimized based on Matlab software. The key components of the hydraulic system are selected. This research provides reference for design of similar hydraulic system of industrial robot

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25

Hua, X., and C. W. S. To. "Simple and Efficient Tetrahedral Finite Elements With Rotational Degrees of Freedom for Solid Modeling." Journal of Computing and Information Science in Engineering 7, no. 4 (2007): 382–93. http://dx.doi.org/10.1115/1.2798120.

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A mixed variational principle and derivation of two simple and efficient tetrahedral finite elements with rotational degrees of freedom (DOF) are presented. Each element has four nodes. Every node has six DOF, which include three translational and three rotational DOF. Each element is capable of providing six rigid-body modes. The rotational DOF are based on the displacement formulation, while the translational DOF are hinged on the hybrid strain Hellinger–Reissner functional. Explicit expressions for stiffness matrices are obtained. Element performance has been evaluated with benchmark proble

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26

Simiao, Fei, Huo Lin, Sun Zhixiao, et al. "Hamiltonian Neural Network 6-DoF Rigid-Body Dynamic Modeling Based on Energy Variation Estimation." Complexity 2023 (September 5, 2023): 1–18. http://dx.doi.org/10.1155/2023/8882781.

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This study introduces a novel deep modeling approach that utilizes Hamiltonian neural networks to address the challenges of modeling the six degrees of freedom rigid-body dynamics induced by control inputs in various domains such as aerospace, robotics, and automotive engineering. The proposed method is based on the principles of Hamiltonian dynamics and employs an inductive bias in the form of a constructed bias for both conservative and varying energies, effectively tackling the modeling issues arising from time-varying energy in controlled rigid-body dynamics. This constructed bias captures

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27

Meng, Xiangxu, Siwei Sun, Xuetao Yan, et al. "Six-Degree-of-Freedom Posture Measurement Technologies Using Position Sensitive Detectors (PSDs): State of the Art." Micromachines 13, no. 11 (2022): 1903. http://dx.doi.org/10.3390/mi13111903.

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Six degree-of-freedom (6-DOF) posture measurement is an important academic research topic which has been broadly applied in many fields. As a high-speed photoelectronic sensor with ultra-high resolution and precision, position sensitive detector (PSD) has shown to be one of the most competitive candidates in 6-DOF measurement. This review presents the research progress of PSD-based 6-DOF posture measurement systems in the field of large-scale equipment assembly, ultra-precision manufacturing and other emerging areas. A total of six methods for implementing 6-DOF measurement are summarized and

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28

Hultman, Erik, and Mats Leijon. "Six-Degrees-of-Freedom (6-DOF) Work Object Positional Calibration Using a Robot-Held Proximity Sensor." Machines 1, no. 2 (2013): 63–80. http://dx.doi.org/10.3390/machines1020063.

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29

Zhao, Zuoxi, Yuchang Zhu, Yuanhong Li, et al. "Multi-Camera-Based Universal Measurement Method for 6-DOF of Rigid Bodies in World Coordinate System." Sensors 20, no. 19 (2020): 5547. http://dx.doi.org/10.3390/s20195547.

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The measurement of six-degrees-of-freedom (6-DOF) of rigid bodies plays an important role in many industries, but it often requires the use of professional instruments and software, or has limitations on the shape of measured objects. In this paper, a 6-DOF measurement method based on multi-camera is proposed, which is accomplished using at least two ordinary cameras and is made available for most morphological rigid bodies. First, multi-camera calibration based on Zhang Zhengyou’s calibration method is introduced. In addition to the intrinsic and extrinsic parameters of cameras, the pose rela

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30

Zhou, Binbin, Xiangyang Qi, Jiahuan Zhang, and Heng Zhang. "Effect of 6-DOF Oscillation of Ship Target on SAR Imaging." Remote Sensing 13, no. 9 (2021): 1821. http://dx.doi.org/10.3390/rs13091821.

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Ship targets are high-value military and civilian targets with broad application prospects. However, the precise focusing of ships is still a difficult issue because of their complicated six-degree-of-freedom motions on the sea surface. This paper focused on investigating the effect of ship six-degree-of-freedom oscillation on Synthetic Aperture Radar imaging. Firstly, based on the six-degree-of-freedom motions, the accurate range models for ship linear oscillation and angular oscillation were built, and the superiority was verified by comparing them with the models described in published lite

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31

Lopes, António M. "Complete dynamic modelling of a moving base 6-dof parallel manipulator." Robotica 28, no. 5 (2009): 781–93. http://dx.doi.org/10.1017/s0263574709990506.

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SUMMARYIn this paper a new approach based on the generalized momentum is used to obtain the dynamic model of a six degrees-of-freedom (dof) parallel manipulator. First, the system dynamic equations are obtained supposing the manipulator base platform is fixed. Afterwards, the dynamic model is extended to the case of a moving base platform. This could be important in a macro/micro robotic application, where a small manipulator is attached in series to a big manipulator. Simulation results of a macro/micro robotic system are presented and the contribution of the base platform motion to the total

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32

Pierrot, François, Masaru Uchiyama, Pierre Dauchez, and Alain Fournier. "A New Design of a 6-DOF Parallel Robot." Journal of Robotics and Mechatronics 2, no. 4 (1990): 308–15. http://dx.doi.org/10.20965/jrm.1990.p0308.

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This paper presents a six-degree-of-freedom parallel robot which has been recently designed. The design is based on a three-degree-of-freedom parallel robot called DELTA which was designed in Switzerland by EPFL. First, we give equations corresponding to different models of the DELTA robot: forward and inverse kinematics as well as inverse dynamics. An important feature of our method in deriving these models is to use a “good” set of parameters in order to simplify the equations. Then, in an attempt to extend the principle of the DELTA robot mechanical structure to a six-degree-offreedom paral

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Fuławka, Krzysztof, Witold Pytel, and Bogumiła Pałac-Walko. "Near-Field Measurement of Six Degrees of Freedom Mining-Induced Tremors in Lower Silesian Copper Basin." Sensors 20, no. 23 (2020): 6801. http://dx.doi.org/10.3390/s20236801.

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The impact of seismicity on structures is one of the key problems of civil engineering. According to recent knowledge, the reliable analysis should be based on both rotational and translational components of the seismic wave. To determine the six degrees of freedom (6-DoF) characteristic of mining-induced seismicity, two sets of seismic posts were installed in the Lower Silesian Copper Basin, Poland. Long-term continuous 6-DoF measurements were conducted with the use of the R-1 rotational seismometer and EP-300 translational seismometer. In result data collection, the waveforms generated by 39

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Abdellatif, Houssem, and Bodo Heimann. "Experimental identification of the dynamics model for 6-DOF parallel manipulators." Robotica 28, no. 3 (2009): 359–68. http://dx.doi.org/10.1017/s0263574709005682.

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SUMMARYThe paper presents a self-contained approach for the dynamics identification of six degrees of freedom (DOF) parallel robots. Major feature is the consequent consideration of structural properties of such machines to provide an experimentally adequate identification method. The known periodic excitation is modified and enhanced to take the actuator coupling as well as the numerical solution of the direct kinematics into account. The benefits of explicit frequency-domain data filtering are demonstrated. Additionally, a new implementation of the maximum-likelihood estimator allows for aut

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P. O. Ogbobe and C. N. Okoye. "Analysis of coupling effects on hydraulic controlled 6 degrees of freedom parallel manipulator." Global Journal of Engineering and Technology Advances 10, no. 3 (2022): 026–31. http://dx.doi.org/10.30574/gjeta.2022.10.3.0051.

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This paper presents an analysis of the coupling effects between degrees of freedom of a hydraulic controlled six DOF parallel manipulator. Based on the singular value decomposition to the properties of its joint space inverse mass matrix, the method is put forward to analyze coupling effects between degrees of freedom using a transformation matrix, the product of transposed Jabobian matrix and an orthogonal unitary matrix, of which each element represents decoupled modal space coordinates with respect to physical task space frame. The simulation results in frequency domain prove the theoretica

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P., O. Ogbobe, and N. Okoye C. "Analysis of coupling effects on hydraulic controlled 6 degrees of freedom parallel manipulator." Global Journal of Engineering and Technology Advances 10, no. 3 (2022): 026–31. https://doi.org/10.5281/zenodo.6402357.

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This paper presents an analysis of the coupling effects between degrees of freedom of a hydraulic controlled six DOF parallel manipulator. Based on the singular value decomposition to the properties of its joint space inverse mass matrix, the method is put forward to analyze coupling effects between degrees of freedom using a transformation matrix, the product of transposed Jabobian matrix and an orthogonal unitary matrix, of which each element represents decoupled modal space coordinates with respect to physical task space frame. The simulation results in frequency domain prove the theoretica

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Kolesnikov, Maxim, and Miloš Žefran. "Generalized penetration depth for penalty-based six-degree-of-freedom haptic rendering." Robotica 26, no. 4 (2008): 513–24. http://dx.doi.org/10.1017/s0263574708004207.

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SUMMARYExisting penalty-based haptic rendering approaches are based on the penetration depth estimation in strictly translational sense and cannot properly take object rotation into account. We propose a new six-degree-of-freedom (6-DOF) haptic rendering algorithm which is based on determining the closest-point projection of the inadmissible configuration onto the set of admissible configurations. Energy is used to define a metric on the configuration space. Once the projection is found the 6-DOF wrench can be computed from the generalized penetration depth. The space is locally represented wi

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38

Beringer, Courtney, Bret Bosma, and Bryson Robertson. "Degrees of freedom effects on a laboratory scale WEC point absorber." International Marine Energy Journal 8, no. 1 (2025): 29–35. https://doi.org/10.36688/imej.8.29-35.

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There are many archetypes of wave energy converters (WEC) that vary widely in operating principles, geometry, controls, number of bodies, and degrees of freedom (DOF). Fundamental WEC research often simplifies this complexity by reducing the number of floating bodies and restricting motions to the dominant degree of freedom. This paper presents the effects of increasing the number of bodies and degrees of freedom of a WEC on body response, power take-off controls, and power capture. The results are from physical experiments with a 1 meter diameter model of the open-source laboratory upgrade po

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Li, Nannan, Hongbin Ma, Qing Fei, Hao Zhou, Shaoke Li, and Sunjie Chen. "Motion Control of 6-DOF Manipulator Based on EtherCAT." Journal of Advanced Computational Intelligence and Intelligent Informatics 22, no. 4 (2018): 415–28. http://dx.doi.org/10.20965/jaciii.2018.p0415.

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We introduce a real-time motion control system that uses the EtherCAT protocol and apply it to a manipulator with six degrees of freedom. The complexity of a multi-joint manipulator leads to higher requirements for synchronous and real-time performance. EtherCAT technology can greatly improve the performance in terms of accuracy, speed, capability, and band width in industrial control, which is crucial in our robot projects. In this paper, we discuss a servo motion control system based on EtherCAT using IgH as the open-source master station. A Linux operating system is adopted because of the a

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Xin, Li, Hu Lin, Xinjun Liu, and Shiyu Wang. "A Method for Unseen Object Six Degrees of Freedom Pose Estimation Based on Segment Anything Model and Hybrid Distance Optimization." Electronics 13, no. 4 (2024): 774. http://dx.doi.org/10.3390/electronics13040774.

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Six degrees of freedom pose estimation technology constitutes the cornerstone for precise robotic control and similar tasks. Addressing the limitations of current 6-DoF pose estimation methods in handling object occlusions and unknown objects, we have developed a novel two-stage 6-DoF pose estimation method that integrates RGB-D data with CAD models. Initially, targeting high-quality zero-shot object instance segmentation tasks, we innovated the CAE-SAM model based on the SAM framework. In addressing the SAM model’s boundary blur, mask voids, and over-segmentation issues, this paper introduces

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Chen, Lu Min, and Fan Wang. "Kinematics of a New 14 DOF Humanoid Biped Robot." Advanced Materials Research 842 (November 2013): 564–68. http://dx.doi.org/10.4028/www.scientific.net/amr.842.564.

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This paper proposes a novel architecture for a biped robot with six DOFs per leg and an active toe DOF (Degrees of Freedom). The arrangement of three successive DOFs paralleled to each other makes its inverse kinematics simple and decoupled by omitting one DOF which is unnecessary when walking. And this work presents close equations for the forward and inverse kinematics. The results can be used in the kinematic control study of the robot.

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Lv, Wei, Limin Tao, and Zhengnan Ji. "Sliding Mode Control of Cable-Driven Redundancy Parallel Robot with 6 DOF Based on Cable-Length Sensor Feedback." Mathematical Problems in Engineering 2017 (2017): 1–21. http://dx.doi.org/10.1155/2017/1928673.

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The sliding mode control of the cable-driven redundancy parallel robot with six degrees of freedom is studied based on the cable-length sensor feedback. Under the control scheme of task space coordinates, the cable length obtained by the cable-length sensor is used to solve the forward kinematics of the cable-driven redundancy parallel robot in real-time, which is treated as the feedback for the control system. First, the method of forward kinematics of the cable-driven redundancy parallel robot is proposed based on the tetrahedron method and Levenberg-Marquardt method. Then, an iterative init

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Boyack, Michael, Alexsandra Sices, and Bruce Woongyeol Jo. "3D human hands rendering by a six degrees of freedom collaborative robot and a single 2D camera." IAES International Journal of Robotics and Automation (IJRA) 12, no. 2 (2023): 125. http://dx.doi.org/10.11591/ijra.v12i2.pp125-136.

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Human hands are essential in everyday tasks, mainly manipulating and grasping objects. Thus, accurate and precise three-dimensional (3D) models of digitally reconstructed hands are valuable to the world of ergonomics. A 3D scan-to-render system called the “3D hands model rendering using a 6-degrees of freedom (DoF) collaborative robot” is proposed to ensure that a person receives the best possible outcome for their unique anatomy. The description implies this is using a 6-DoF robot with a two-dimensional (2D) camera sensor that will encompass all forms of the production line in a timely, low-c

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Michael, Boyack, Sices Alexsandra, and Woongyeol Jo Bruce. "3D human hands rendering by a six degrees of freedom collaborative robot and a single 2D camera." IAES International Journal of Robotics and Automation (IJRA) 12, no. 2 (2023): 125–36. https://doi.org/10.11591/ijra.v12i2.pp125-136.

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Human hands are essential in everyday tasks, mainly manipulating and grasping objects. Thus, accurate and precise three-dimensional (3D) models of digitally reconstructed hands are valuable to the world of ergonomics. A 3D scan-to-render system called the “3D hands model rendering using a 6-degrees of freedom (DoF) collaborative robot” is proposed to ensure that a person receives the best possible outcome for their unique anatomy. The description implies this is using a 6-DoF robot with a two-dimensional (2D) camera sensor that will encompass all forms of the production line in a t

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Wang, Qian, Chenkun Qi, Feng Gao, Xianchao Zhao, Anye Ren, and Qiao Sun. "Force-based delay compensation for hardware-in-the-loop simulation divergence of 6-DOF space contact." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 1 (2017): 151–65. http://dx.doi.org/10.1177/0954410017728969.

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The contact process of a space docking device needs verification before launching. The verification cannot only rely on the software simulation since the contact dynamic models are not accurate enough yet, especially when the geometric shape of the device is complex. Hardware-in-the-loop simulation is a choice to perform the ground test, where the contact dynamic model is replaced by a real device and the real contact occurs. However, the Hardware-in-the-loop simulation suffers from energy increase and instability since time delay is unavoidable. The existing delay compensation methods are mai

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Wang, Jingfu, Yan Shen, Peijian Lin, and Lihua Liang. "Modeling and simulation analysis of ship 6-dof simulation swing platform based on matlab." E3S Web of Conferences 522 (2024): 01055. http://dx.doi.org/10.1051/e3sconf/202452201055.

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In this paper, the kinematics and dynamics model of the ship’s six-degree-of-freedom simulation swing platform were studied. Then, a random wave and ship motion response model was established, and a six-degree-of-freedom motion model of DP ship in four-level sea state was established and studied by using the open source MSS toolbox, which lays a foundation for the subsequent simulation and control strategy research. The ordinary PID controller and fuzzy PID controller were designed and simulated, and the results were compared to verify the effect of fuzzy PID controller.

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Žák, Marek, Jaroslav Rozman, and František V. Zbořil. "Design and Control of 7-DOF Omni-directional Hexapod Robot." Open Computer Science 11, no. 1 (2020): 80–89. http://dx.doi.org/10.1515/comp-2020-0189.

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AbstractLegged robots have great potential to travel across various types of terrain. Their many degrees of freedom enable them to navigate through difficult terrains, narrow spaces or various obstacles and they can move even after losing a leg. However, legged robots mostly move quite slowly. This paper deals with the design and construction of an omni-directional seven degrees of freedom hexapod (i.e., six-legged) robot, which is equipped with omnidirectional wheels (two degrees of freedom are used, one for turning the wheel and one for the wheel itself) usable on flat terrain to increase tr

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Gao, Mingyu, Da Chen, Yuxiang Yang, and Zhiwei He. "A fixed-distance planning algorithm for 6-DOF manipulators." Industrial Robot: An International Journal 42, no. 6 (2015): 586–99. http://dx.doi.org/10.1108/ir-04-2015-0077.

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Purpose – The purpose of this paper is to propose a new trajectory planning algorithm for industrial robots, which can let the robots move through a desired spatial trajectory, avoid colliding with other objects and achieve accurate movements. Trajectory planning algorithms are the soul of motion control of industrial robots. A predefined space trajectory can let the robot move through the desired spatial coordinates, avoid colliding with other objects and achieve accurate movements. Design/methodology/approach – The mathematical expressions of the proposed algorithm are deduced. The speed con

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Carricato, Marco, and Vincenzo Parenti-Castelli. "A Family of 3-DOF Translational Parallel Manipulators1." Journal of Mechanical Design 125, no. 2 (2003): 302–7. http://dx.doi.org/10.1115/1.1563635.

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This article addresses parallel manipulators with fewer than six degrees of freedom, whose use may prove valuable in those applications in which a higher mobility is uncalled for. In particular, a family of 3-dof manipulators containing only revolute joints or at the most revolute and prismatic ones is studied. Design and assembly conditions sufficient to provide the travelling platform with a pure translational motion are determined and two sub-families that fulfill the imposed constraint are found: one is already known in the literature, while the other is original. The new architecture does

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Lu, Yun, Jinbo Wu, Weijia Li, and Yaozhong Wu. "A New Six-DoF Parallel Mechanism for Captive Model Test." Polish Maritime Research 27, no. 3 (2020): 4–15. http://dx.doi.org/10.2478/pomr-2020-0041.

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AbstractIn order to obtain the hydrodynamic coefficients that can save cost and meet the accuracy requirements, a new hydrodynamic test platform based on a 6DoF (six degrees of freedom) parallel mechanism is proposed in this paper. The test platform can drive the ship to move in six degrees of freedom. By using this experimental platform, the corresponding hydrodynamic coefficients can be measured. Firstly, the structure of the new device is introduced. The working principle of the model is deduced based on the mathematical model. Then the hydrodynamic coefficients of a test ship model of a KE

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