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Articles de revues sur le sujet « Kinematics »

Auteur : Grafiati

Publié le 4 juin 2021

Mis à jour le 25 juillet 2025

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1

Ge, Dawei. "Kinematics modeling of redundant manipulator based on screw theory and Newton-Raphson method." Journal of Physics: Conference Series 2246, no. 1 (2022): 012068. http://dx.doi.org/10.1088/1742-6596/2246/1/012068.

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Abstract In this paper, forward kinematics and inverse kinematicsis algorithms are proposed to solve the problem that the redundant manipulator has more freedom than the traditional manipulator and cannot directly solve the inverse kinematics analytical solution. Firstly, the forward kinematics model is established through the screw theory; secondly, Newton-Raphson method is used to solve the inverse kinematics of the manipulator. Finally, the algorithms of redundant manipulator are verified through an example simulated by Matlab Robotics toolbox. The results show that the kinematic algorithms

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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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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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Hanuschik, R. W. "FeII line widths as tracers for the geometry of Be star envelopes." Symposium - International Astronomical Union 162 (1994): 265–66. http://dx.doi.org/10.1017/s0074180900215015.

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The geometry of Be star envelopes is not directly observable, apart from those very few cases where interferometry has been successful. This is even more true for the kinematical conditions in these envelopes. An indirect measure of kinematics, density law and geometry can be achieved by comparing line widths of photospheric absorption lines (⇔ v* sin i) and circumstellar emission lines (⇔ v(r) sin i). Hitherto existing determinations of line widths have been, however, quite unsatisfactory. The reason is that in these studies Balmer line parameters were used [see Hanuschik (1989) and reference

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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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Lu, Chen Hua, and Meng Jun Song. "The Research of Rapid Construction Method of Kinematics Coordinate System from a Kind of Mobile Robot." Applied Mechanics and Materials 721 (December 2014): 299–302. http://dx.doi.org/10.4028/www.scientific.net/amm.721.299.

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In order to study how to solve the serial robot kinematics quickly, so we transformed the kinematics coordinate system by Y axis, and the computed results show that transforming the kinematics coordinate system by Y axis could solve the kinematic model quickly and efficiently; the computed results suggest that constructing the redundant coordinate system and transforming the kinematics coordinate system by Y axis could solve the serial robotic kinematics efficiently.

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7

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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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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Tian, Fang, Guang Ming Liu, and Ke Tao. "Kinematics Analysis for a PRRR Manipulator." Applied Mechanics and Materials 271-272 (December 2012): 1578–81. http://dx.doi.org/10.4028/www.scientific.net/amm.271-272.1578.

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The PRRR manipulator of the kinematic equation transformation matrix is worked out by using D-H method, the kinematics solutions are derived ；The coordinate transform method and inverse transform method of the robot kinematics equations are derived, the inverse kinematics is derived and a example is given.

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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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15

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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Ashe, William B., Sarah E. Innis, Julia N. Shanno, et al. "Analysis of respiratory kinematics: a method to characterize breaths from motion signals." Physiological Measurement 43, no. 1 (2022): 015007. http://dx.doi.org/10.1088/1361-6579/ac4d1a.

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Abstract Objective. Breathing motion (respiratory kinematics) can be characterized by the interval and depth of each breath, and by magnitude-synchrony relationships between locations. Such characteristics and their breath-by-breath variability might be useful indicators of respiratory health. To enable breath-by-breath characterization of respiratory kinematics, we developed a method to detect breaths using motion sensors. Approach. In 34 volunteers who underwent maximal exercise testing, we used 8 motion sensors to record upper rib, lower rib and abdominal kinematics at 3 exercise stages (re

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Hirose, James, Atsushi Nishikawa, Yosuke Horiba, Shigeru Inui, and Todd C. Pataky. "Integrated jerk as an indicator of affinity for artificial agent kinematics: laptop and virtual reality experiments involving index finger motion during two-digit grasping." PeerJ 8 (September 15, 2020): e9843. http://dx.doi.org/10.7717/peerj.9843.

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Uncanny valley research has shown that human likeness is an important consideration when designing artificial agents. It has separately been shown that artificial agents exhibiting human-like kinematics can elicit positive perceptual responses. However the kinematic characteristics underlying that perception have not been elucidated. This paper proposes kinematic jerk amplitude as a candidate metric for kinematic human likeness, and aims to determine whether a perceptual optimum exists over a range of jerk values. We created minimum-jerk two-digit grasp kinematics in a prosthetic hand model, t

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18

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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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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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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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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22

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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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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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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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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Mello Fiori, Júlia, Rodrigo Zacca, and Flávio Antônio De Souza Castro. "Training cessation in 12 years old and under Age-Group Swimmers." Revista Andaluza de Medicina del Deporte 15, no. 2 (2021): 43–47. http://dx.doi.org/10.33155/j.ramd.2021.06.004.

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Abstract Objective: to verify if three-weeks of training cessation affects 200 m front crawl performance and kinematics in 12 years old and under age-group swimmers controlling for anthropometric changes. Method: Sixteen age-group swimmers (11 girls and 5 boys, age: 10.2 ± 1.2 y) performed a 200 m front crawl test (T200) (time trial) PRE- and POST three-weeks (off-season), where performance, kinematics and anthropometrics variables were obtained. Results: Height increased ~1.0 cm (CI: 0.70 to 1.3 cm; p < 0.001; d = 0.07). Trivial changes were observed for performance (mean

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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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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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Hernandez-Barragan, Jesus, Gabriel Martinez-Soltero, Jorge D. Rios, Carlos Lopez-Franco, and Alma Y. Alanis. "A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots." Mathematics 10, no. 21 (2022): 4135. http://dx.doi.org/10.3390/math10214135.

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This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The kinematic analysis does not require using any Jacobian matrix nor its estimation; for this reason, the proposed approach does not suffer from singularities, which is a common problem with conventional inverse kinematics algorithms. Moreover, the proposed method solves cooperative manipulation tasks,

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Толстошеев, Андрей, Andrey Tolstosheev, Вячеслав Татаринцев, and Vyacheslav Tatarincev. "STRUCTURAL SYNTHESIS OF SELF-ALIGNING GEARS OF INDUSTRIAL ROBOTS WITH PARALLEL KINEMATICS." Bulletin of Bryansk state technical university 2019, no. 4 (2019): 4–13. http://dx.doi.org/10.30987/article_5cb58f4ed2c444.85435034.

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The aim of this work is an analysis of excess ties in handler closed kinematics and development of the structural synthesis procedure for self-aligning gears of industrial robots with parallel kinematics. The design of a structure flowchart of a gear without excess ties in the procedure offered is carried out by means of prototype mechanism updating and includes the following stages: the reveal and analysis of excess ties, excess ties elimination, correctness checkup of excess ties elimination. For the excess ties analysis and solution check-up a structural analysis is carried out. At that a h

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Cheng, Xiang Li, Yi Qi Zhou, Cui Peng Zuo, and Xiao Hua Fan. "Kinematical Analysis and Simulation of Upper Limb Rehabilitation Robot." Key Engineering Materials 474-476 (April 2011): 1315–20. http://dx.doi.org/10.4028/www.scientific.net/kem.474-476.1315.

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To assist stroke patients with rehabilitation training, an upper limb rehabilitation robot with an exoskeleton structure and three degrees of freedom (DOF) was developed in this paper. Under the guidance of the theory of rehabilitation medicine, the mechanical design of the robot was completed. Then, the kinematics equations were established by means of homogeneous transformation, including the forward kinematics and the inverse kinematics. The kinematical analysis was carried out and the algebraic solution of inverse kinematics was derived, which provided a theoretical basis for realizing the

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Asif, Seemal, and Philip Webb. "Kinematics Analysis of 6-DoF Articulated Robot with Spherical Wrist." Mathematical Problems in Engineering 2021 (February 2, 2021): 1–11. http://dx.doi.org/10.1155/2021/6647035.

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The aim of the paper is to study the kinematics of the manipulator. The articulated robot with a spherical wrist has been used for this purpose. The Comau NM45 Manipulator has been chosen for the kinematic model study. The manipulator contains six revolution joints. Pieper’s approach has been employed to study the kinematics (inverse) of the robot manipulator. Using this approach, the inverse kinematic problem is divided into two small less complex problems. This reduces the time of analysing the manipulator kinematically. The forward and inverse kinematics has been performed, and mathematical

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Zhao, Yong Guo, Yong Fei Xiao, and Tie Chen. "Kinematics Analysis for a 4-DOF Palletizing Robot Manipulator." Applied Mechanics and Materials 313-314 (March 2013): 937–40. http://dx.doi.org/10.4028/www.scientific.net/amm.313-314.937.

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In order to meet theneeds of high-speedpalletizing inlogistics automation industry, a 4 d4-DOF palletizingrobot manipulatorwas designed. Inthis paper,focusing on kinematic analysis, forward kinematics modeland inverse kinematics were introduced in detail.

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Kumar K, Pavan, Murali Mohan J, and Srikanth D. "Generalized solution for inverse kinematics problem of a robot using hybrid genetic algorithms." International Journal of Engineering & Technology 7, no. 4.6 (2018): 250. http://dx.doi.org/10.14419/ijet.v7i4.6.20486.

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The robot control consists of kinematic control and dynamic control. Control methods of the robot involve forward kinematics and inverse kinematics (IK). In Inverse kinematics the joint angles are found for a given position and orientation of the end effector. Inverse kinematics is a nonlinear problem and has multiple solutions. This computation is required to control the robot arms. A Genetic Algorithm (GA) and Hybrid genetic algorithm (HGA) (Genetic Algorithm in conjunction with Nelder-Mead technique) are proposed for solving the inverse kinematics of a robotic arm. HGA introduces two concep

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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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Kozanek, Michal, Samuel K. Van de Velde, Thomas J. Gill, and Guoan Li. "The Contralateral Knee Joint in Cruciate Ligament Deficiency." American Journal of Sports Medicine 36, no. 11 (2008): 2151–57. http://dx.doi.org/10.1177/0363546508319051.

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Background Patients with unilateral ligament deficiency are believed to have altered kinematics of the contralateral knee, increasing the risk of contralateral joint injury. Therefore, the contralateral knees might not be a reliable normal kinematic control. Purpose To compare the in vivo kinematics of the uninjured contralateral knees of patients with anterior or posterior cruciate ligament deficiency with knee kinematics of age-matched patients without joint injury. Study Design Controlled laboratory study. Methods Ten subjects with bilateral healthy knees, 10 patients with acute unilateral

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Zhao, Rongbo, Zhiping Shi, Yong Guan, Zhenzhou Shao, Qianying Zhang, and Guohui Wang. "Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem." International Journal of Advanced Robotic Systems 15, no. 6 (2018): 172988141881829. http://dx.doi.org/10.1177/1729881418818297.

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The traditional Denavit–Hatenberg method is a relatively mature method for modeling the kinematics of robots. However, it has an obvious drawback, in that the parameters of the Denavit–Hatenberg model are discontinuous, resulting in singularity when the adjacent joint axes are parallel or close to parallel. As a result, this model is not suitable for kinematic calibration. In this article, to avoid the problem of singularity, the product of exponentials method based on screw theory is employed for kinematics modeling. In addition, the inverse kinematics of the 6R robot manipulator is solved by

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Rosyid, Abdur, Bashar El-Khasawneh, and Anas Alazzam. "External Kinematic Calibration of Hybrid Kinematics Machine Utilizing Lower-DOF Planar Parallel Kinematics Mechanisms." International Journal of Precision Engineering and Manufacturing 21, no. 6 (2019): 995–1015. http://dx.doi.org/10.1007/s12541-019-00261-3.

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AbstractThis paper presents the implementation of nonlinear least squares and iterative linear least squares algorithms for external kinematic calibration of a hybrid kinematics machine composed of two 3PRR planar parallel kinematics mechanisms by utilizing a laser tracker. First the hand-eye and robot-world transformations were obtained by a separable closed-form solution and refined by the nonlinear least squares. Subsequently, the geometric parameters of the machine’s mechanisms were estimated using the two algorithms. Due to the rank deficiency, we implemented the nonlinear least squares a

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Timofeev, G. A., I. Z. Kataev, and D. M. Samsonenko. "Research of the Rhombic Mechanism Kinematics." Proceedings of Higher Educational Institutions. Маchine Building, no. 4 (733) (April 2021): 12–17. http://dx.doi.org/10.18698/0536-1044-2021-4-12-17.

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Designing modern mechanisms and machines is a very complex and iterative process. One of its first stages is the kinematic analysis of mechanisms followed by structural, dynamic, kinetostatic, etc. The scheme of an asymmetric rhombic mechanism with a developed drive arm of the working group is investigated. The kinematics of the characteristic links points of this mechanism is considered: their kinematic pairs and centers of mass. The kinematics of points and links of this mechanism is considered. The main dependencies for determining the analogs of the velocities and accelerations of points a

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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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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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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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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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Le-Thi-Thu, Thuy, and Luong Tran-Thi-Thu. "Kinematic Study of Non-Spherical Wrists in Industrial Robots." International Journal of Advanced Multidisciplinary Research and Studies 5, no. 2 (2025): 2268–73. https://doi.org/10.62225/2583049x.2025.5.2.4168.

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Serial 6DOF robots with non-spherical wrists are widely used in applications requiring high flexibility and large workspaces, such as painting and welding. A key challenge is the lack of analytical solutions for their inverse kinematics. This study investigates the kinematics of three common non-spherical wrists. Using their kinematic equations, the complete workspace of each wrist is analyzed. We propose the Generalized Reduced Gradient (GRG) numerical method to solve the inverse kinematics problem. Validation results demonstrate that the GRG method achieves high accuracy with minimal errors,

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Shi, Zhi Hui, Xin Lei Ma, and Bi Hong Lu. "Research on Collision Method for Irregular Mechanism Kinematics Simulation." Advanced Materials Research 97-101 (March 2010): 3418–22. http://dx.doi.org/10.4028/www.scientific.net/amr.97-101.3418.

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General kinematics simulation is only for regular mechanism about turning in fix axis, shifting on plane as well as their compound motions. However, there is no mature technique supporting kinematic simulation for those mechanisms depending on clearance operation such as lorry couplers. Considering such irregularly mechanism, authors proposed a method based on collision kinematics simulation, and combining structure analysis as well as virtual assembly in Pro/Engineer. According to methods above, authors implemented three postures of coupler operation kinematics simulation, as well as the reli

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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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Williams, Keith R., Rebecca Snow, and Chris Agruss. "Changes in Distance Running Kinematics with Fatigue." International Journal of Sport Biomechanics 7, no. 2 (1991): 138–62. http://dx.doi.org/10.1123/ijsb.7.2.138.

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This study investigated changes in kinematics with fatigue during intercollegiate competition, a noncompetitive track run, and a constant speed treadmill run. To account for changes in kinematics resulting from speed differences, regression equations for each individual generated from nonfatigue data were used to predict rested kinematics for speeds matching those of the fatigue conditions. A factor analysis procedure grouped 29 kinematic variables into sets of independent factors, and both factor variables and individual variables were analyzed for changes with fatigue, which were minimal. On

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Laschowski, Brock, Naser Mehrabi, and John McPhee. "Inverse Dynamics Modeling of Paralympic Wheelchair Curling." Journal of Applied Biomechanics 33, no. 4 (2017): 294–99. http://dx.doi.org/10.1123/jab.2016-0143.

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Paralympic wheelchair curling is an adapted version of Olympic curling played by individuals with spinal cord injuries, cerebral palsy, multiple sclerosis, and lower extremity amputations. To the best of the authors’ knowledge, there has been no experimental or computational research published regarding the biomechanics of wheelchair curling. Accordingly, the objective of the present research was to quantify the angular joint kinematics and dynamics of a Paralympic wheelchair curler throughout the delivery. The angular joint kinematics of the upper extremity were experimentally measured using

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