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Rozprawy doktorskie na temat „Kinematics”

Autor: Grafiati

Data publikacji: 4 czerwca 2021

Data aktualizacji: 25 lipca 2025

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1

Zaplana, Agut Isiah. "Solving robotic kinematic problems : singularities and inverse kinematics." Doctoral thesis, Universitat Politècnica de Catalunya, 2018. http://hdl.handle.net/10803/667496.

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Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of describing the open chain geometry as well as the position, velocity and/or acceleration of each one of its components. Rigid serial robot manipulators are designed as a sequence of rigid bodies, called links, connected by motor-actuated pairs, called joints, that provide relative motion between consecutive links. Two kinematic problems of special relevance for serial robots

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2

Šimková, Kristýna. "Návrh SW pro řízení delta robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400926.

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This thesis deals with software creation for delt robot in TwinCAT 3 program. First part describes the general characteristics of a delta robot. Next part deals with hardware and PLC coding in TwinCAT 3 and the final part discusses the creation of an application.

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Kozubík, Jiří. "Experimentální robotizované pracoviště s delta-robotem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229633.

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This diploma thesis was written within Czech-German study programme Production systems (VUT v Brně & TU Chemnitz). This thesis is divided into four main parts. In the first part is brought out the introduction to design of robotic cells. Following part is concentrated on analysis of present state in area of machines with parallel kinematics. The penultimate part, on which is focused the main attention, is dedicated to kinematic analysis of delta-robot. Closing part of this Thesis presents the study of experimental robotized workplace with integrated delta-robot.

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4

Fabricius, Maximilian Hieronymus. "Kinematics across bulge types a longslit kinematic survey and dedicated instrumentation." Diss., lmu, 2012. http://nbn-resolving.de/urn:nbn:de:bvb:19-144409.

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5

Centea, Dan Elbestawi Mohamed A. A. "Design, kinematics and dynamics of a machine tool based on parallel kinematic structure." *McMaster only, 2004.

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6

Köhn, Daniel. "Kinematics of fibrous aggregates." [S.l. : s.n.], 2000. http://ArchiMeD.uni-mainz.de/pub/2000/0027/diss.pdf.

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7

Evans, Dafydd Wyn. "Galactic structures and kinematics." Thesis, University of Cambridge, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.279712.

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8

Shih, Yi-Fen. "Assessment of patellofemoral kinematics." Thesis, Imperial College London, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.397798.

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9

Petrou, Georgios. "Kinematics of cricket phonotaxis." Thesis, University of Edinburgh, 2012. http://hdl.handle.net/1842/7944.

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Male crickets produce a species specific song to attract females which in response move towards the sound source. This behaviour, termed phonotaxis, has been the subject of many morphological, neurophysiological and behavioural studies making it one of the most well studied examples of acoustic communication in the animal kingdom. Despite this fact, the precise leg movements during this behaviour is unknown. This is of specific interest as the cricket’s ears are located on their front legs, meaning that the perception of the sound input might change as the insect moves. This dissertation descr

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10

Abreu, Manuel P. "Kinematics under wind waves." Thesis, Monterey, California. Naval Postgraduate School, 1989. http://hdl.handle.net/10945/27115.

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11

Hallberg, Robert. "Target Classification Based on Kinematics." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81216.

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Modern aircraft are getting more and better sensors. As a result of this, the pilots are getting moreinformation than they can handle. To solve this problem one can automate the information processingand instead provide the pilots with conclusions drawn from the sensor information. An aircraft’smovement can be used to determine which class (e.g. commercial aircraft, large military aircraftor fighter) it belongs to. This thesis focuses on comparing three classification schemes; a Bayesianclassification scheme with uniform priors, Transferable Belief Model and a Bayesian classificationscheme wit

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12

Jagirdar, Saurabh. "Kinematics of curved flexible beam." [Tampa, Fla] : University of South Florida, 2006. http://purl.fcla.edu/usf/dc/et/SFE0001853.

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13

Bajer, Konrad. "Flow kinematics and magnetic equilibria." Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305335.

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14

Amadi, Hippolite Onyejiaka. "Glenohumeral kinematics and ligament loading." Thesis, Imperial College London, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.437763.

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15

Altman, Mary Ellen 1962. "SPEECH BREATHING KINEMATICS IN WOMEN." Thesis, The University of Arizona, 1986. http://hdl.handle.net/10150/277081.

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16

Walker, Simon M. "Insect flight : kinematics and aerodynamics." Thesis, University of Oxford, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.670125.

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17

Zugel, John Martin. "Prolog implementation in robot kinematics." Thesis, Virginia Tech, 1985. http://hdl.handle.net/10919/44674.

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<p>The purpose of this study is to implement the advantages of the relatively new field of expert systems to robot kinematics. The research presented in this thesis illustrates the progress in combining the two fields. An expert system used to solve the kinematic equations of general purpose robots is presented along with some examples.</p><br>Master of Science

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18

Олємской, Олександр Іванович, Александр Иванович Олемской, Oleksandr Ivanovych Oliemskoi, et al. "Kinematics of nonextensive statistical systems." Thesis, Видавництво СумДУ, 2011. http://essuir.sumdu.edu.ua/handle/123456789/12717.

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19

Nanua, Prabjot. "Direct kinematics of parallel mechanisms." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1335458031.

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20

Peck, Christopher Charles. "An assessment of condylar kinematics." Connect to full text, 1995. http://hdl.handle.net/2123/4208.

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Thesis (M. Sc. Dent.)--University of Sydney, 1995.<br>Includes tables. Title from title screen (viewed Apr. 16, 2009) Submitted in fulfilment of the requirements for the degree of Master of Science in Dentistry, Faculty of Dentistry. Includes bibliography. Also available in print form.

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21

Peck, Christopher. "An assessment of condylar kinematics." Thesis, The University of Sydney, 1995. http://hdl.handle.net/2123/4208.

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Most studies of condylar movement are based on the movement of an arbitrary condylar point. As the condyle is a 3-dimensional body which undergoes complex rotations and translations in function, the movement of one point in the vicinity of the condyle may not accurately represent condylar movement. The aims of this investigation were to determine in human subjects, during open-close and excursive jaw movements, the movement patterns of arbitrary and anatomical condylar points; and whether the trajectory of a single selected point can accurately reflect the movement of the condyle. In 44 subjec

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22

Peck, Christopher. "An assessment of condylar kinematics." University of Sydney, 1995. http://hdl.handle.net/2123/4208.

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Master of Science<br>Most studies of condylar movement are based on the movement of an arbitrary condylar point. As the condyle is a 3-dimensional body which undergoes complex rotations and translations in function, the movement of one point in the vicinity of the condyle may not accurately represent condylar movement. The aims of this investigation were to determine in human subjects, during open-close and excursive jaw movements, the movement patterns of arbitrary and anatomical condylar points; and whether the trajectory of a single selected point can accurately reflect the movement of the

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23

Peck, Christopher Charles. "An Assessment Of Condylar Kinematics." Thesis, The University of Sydney, 1988. http://hdl.handle.net/2123/4982.

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24

Kašėta, Julius. "Jaunių ir suaugusiųjų plaukikų – vyrų starto atlikimo ypatumų lyginamoji analizė." Bachelor's thesis, Lithuanian Academic Libraries Network (LABT), 2014. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2014~D_20140619_113540-43290.

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Tyrimo objektas – vyrų plaukimo starto atlikimo kinematinių parametrų ypatumai, plaukiant 50 ir 100 m laisvu stiliumi. Darbo tikslas – nustatyti stipriausių Europos plaukikų, plaukiančių 50 ir 100 m laisvuoju stiliumi, starto atlikimo kinematinių parametrų ypatumus 50 m ilgio baseine. Hipotezė – povandeninės starto atkarpos įveikimo ypatumai turi vienodą įtaką jaunių ir suaugusiųjų sportiniams rezultatams, sprinto (50 ir 100 m) laisvuoju stiliumi rungtyje. Tyrimo uždaviniai: 1. Nustatyti stipriausių Europos plaukikų, plaukiančių 50 ir 100 m laisvuoju stiliumi atlikimo kinematinius parametrus 5

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25

Fabricius, Maximilian Hieronymus [Verfasser], and Ralf [Akademischer Betreuer] Bender. "Kinematics across bulge types : a longslit kinematic survey and dedicated instrumentation / Maximilian Hieronymus Fabricius. Betreuer: Ralf Bender." München : Universitätsbibliothek der Ludwig-Maximilians-Universität, 2012. http://d-nb.info/1023930382/34.

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26

List, Renate Barbara. "Joint kinematics of unconstrained ankle arthroplasties /." [S.l.] : [s.n.], 2009. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=18404.

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27

Lader, Pål Furset. "Geometry and Kinematics of Breaking Waves." Doctoral thesis, Norwegian University of Science and Technology, Faculty of Engineering Science and Technology, 2002. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-69.

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<p>The objective of this thesis is to experimentally study different breaking waves cases. This is done by measuring in detail the free surface geometry and the internal kinematics of the waves as they approach breaking. Three principal wave cases were chosen for the study: A plunging breaker, a spilling breaker, and an intermediate breaker.</p><p>A major part of this work is the design, construction and building of a wave laboratory. The laboratory contains a glass wall waveflume which is 13.5m long, 1m deep and 0.6m wide, as well as equipment for measuring both the wave kinematics and geomet

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28

McNamee, Louis P. "Photogrammetric calibration of mobile robot kinematics." Thesis, University of Ottawa (Canada), 2003. http://hdl.handle.net/10393/26522.

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Numerous simulation and control applications of mobile robotics require accurate kinematic models. A kinematic model relates the position and orientation of a robot to control inputs. This thesis proposes a non-intrusive methodology to calibrate kinematic models for wheeled mobile robots. Model calibration requires accurate measurement of kinematic state and robust estimation techniques to account for process and measurement uncertainty. A photogrammetric camera system is used to measure the kinematic trajectory of wheeled mobile robot. A fully projective formulation of Lowe's pose recovery al

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29

Tingley, Susan Joanne. "Articulatory kinematics in adductor spasmodic dysphonia." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape9/PQDD_0004/MQ46182.pdf.

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30

Narasimhan, Sundar. "Dexterous Robotic Hands: Kinematics and Control." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/6834.

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This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of the theoretical concepts presented. The kinematics of such hands is interesting and complicated owing to the large number of degrees of freedom involved. The implementation of position and force control algorithms on such tendon driven hands has previously suffered from inefficient formulations and a lack of sophisticated computer hardware. Both these problems are ad

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31

Kenyon, C. M. P. "The kinematics of the rib cage." Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.334132.

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32

Bouroullec, Renaud. "Synsedimentary fault kinematics and stratigraphic response." Thesis, Imperial College London, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268915.

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33

Wilson, David Robert. "Three-dimensional kinematics of the knee." Thesis, University of Oxford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.320163.

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34

Sansom, A. E. "Kinematics and structure of radio ellipticals." Thesis, University of Sussex, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.380532.

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35

Dickson, Ruth. "The kinematics of human tool use." Thesis, Bangor University, 2018. https://research.bangor.ac.uk/portal/en/theses/the-kinematics-of-human-tool-use(ae098f00-5385-4e16-9d01-60c0d173452c).html.

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The aim of this thesis was to use kinematic analysis to further our understanding of tool Use. We wanted to investigate whether there were similarities in how people picked up objects with their hand and with a tool, and whether these remained when we manipulated the ratio and motor equivalence of the tool. This allowed us to investigate the concepts of end-effector control and internal tool models. Participants compensated for the ratio of the red 1.4:1 tool to the same extent when only cued with tool colour as when having all of the information. This shows that information about the tool mus

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36

Eberman, Brian Scott. "Whole-arm manipulation : kinematics and control." Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14428.

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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1989.<br>Includes bibliographical references.<br>Support provided in part by the Office of Naval Research University Initiative Program under the Office of Naval Research. N00014-86-K-0685 Support provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research. N00014-85-K-0124<br>by Brian Scott Eberman.<br>M.S.

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37

Penney, Camilla Emily. "Kinematics and dynamics of continental deformation." Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/278649.

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In contrast to the oceans, deformation in the continental lithosphere is distributed over broad regions. This dissertation is composed of three separate but related studies investigating the kinematics and dynamics of such deformation. The first two studies look at the Makran subduction zone, and the third focusses on deformation in South East Tibet. The first study is an investigation of the 11 May 2013 M w 6.1 Minab earthquake which occurred at the western end of the Makran subduction zone, adjacent to the transition to continent-continent collision in the Zagros mountains. Seismological, ge

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38

Warner, Martin Bryan. "Measurement and classification of scapular kinematics." Thesis, University of Southampton, 2011. https://eprints.soton.ac.uk/210967/.

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Shoulder pain is associated with abnormal movement of the scapula. Quantitative measurement and classification of abnormal scapular kinematics, however, is difficult due to the gliding nature of the scapula beneath the skin surface, and large variation in data. The aims of this study were to determine the validity and reliability of the acromion marker cluster (AMC) in measuring scapular kinematics during the arm lowering phase, to measure poor control of the scapula in people with a history of shoulder pain and a group with shoulder impingement, and objectively classify poor control scapular

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39

Pandit, Hemant Govind. "Sagittal plane kinematics after knee arthroplasty." Thesis, University of Oxford, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.510203.

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40

Eftaxiopoulou, Theofano. "Measuring elbow kinematics in cricket bowling." Thesis, Imperial College London, 2011. http://hdl.handle.net/10044/1/9133.

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In the sport of cricket the objective of the ‘no-ball’ law is to allow no performance advantage through elbow extension during ball delivery. Since the advent of high-speed video photography it has been revealed that some straightening occurs in bowlers who have actions that are traditionally considered in accordance with the law. Measuring the three-dimensional movement of the elbow is vital when assessing bowling legality in cricket. However, the elbow joint is a complex structure with a remarkable range of motion and tracking its movement through skin-based techniques can be highly erroneou

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41

Long, Manda Marie. "Kinematics of the fingers during typing." Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-06162009-063244/.

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42

Emiris, Ioannis Z. "Sparse elimination and applications in kinematics /." Berkeley, CA US : Univ. of California at Berkeley, 1994. http://www-sop.inria.fr/saga/personnel/Ioannis.Emiris/index.html.

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43

Szyszka, Cezary Tadeusz. "The kinematics of selected planetary nebulae." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/the-kinematics-of-selected-planetery-nebulae(cf2aa518-fd62-4b9e-8e1c-885edea52ceb).html.

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Planetary nebulae are formed from the ejecta of evolved stars. These ejecta are swept up by the fast low density wind from the hot central star, as it evolves towards a white dwarf. The sweep-up mechanism is called the Interacting Stellar Winds model (Kwok et al. 1978). The history of mass loss is imprinted on the nebular ejecta. The velocity field of the ejecta traces the mass loss event. A continuous mass loss gives a different velocity field from a brief mass loss event. We employed Integral Field Unit spectroscopy to study the velocity fields of three Bulge Planetary Nebulae. The prelimina

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44

Petruška, Bohumil. "Lineární jednotka s hydraulickým pohonem pro robot s paralelní kinematickou strukturou." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230328.

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This thesis deals with new construction of hydraulic linear drive for paralell kinematics structures of robots. In the first section provides a historical development of robots with this structures. There are also described differences between each machine with this structures and compares them with machines with linear structures. In the second section is made a proposal of hydraulic actuator. Designed actuators are arranged into hexapod. There is also included a proposal of possible solutions to fixing hydraulic actuator to platform and base. This thesis include drawings of selected parts an

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45

Налимова, П. Н., та А. В. Скорик. "Вариант представления основных понятий кинематики в блоковой форме". Thesis, Сумский государственный университет, 2015. http://essuir.sumdu.edu.ua/handle/123456789/39908.

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46

Vacek, Václav. "Aplikace technologie MOLECUBES v robotice." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2016. http://www.nusl.cz/ntk/nusl-242848.

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The aim of the thesis is to propose and make a robot, which is made of identical modules. These modules are able to connect or disconnect themselves and thanks to this feature new structures of robot can be achieved. This problem is solved by the design proposal of a module, which is capable to rotate in two axis and has connection connectors for other modules. Communication is carried out by Wi-fi connection to the computer and angles required for reconfiguration are calculated by inverse kinematics in Matlab program. On these modules the reconfiguration test was succesfully demonstrated.

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47

Vítek, Filip. "Konfigurace robotické struktury za použití MOLECUBES." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232194.

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This master thesis is focused on Modular Self-Reconfigurable Robotic Systems. Their description is made at first and then possibilities of their use are listed. The next chapter concerns Molecubes modular system. The design of similar system where the construction of the individual modules is described follows. The transformations of coordinated systems in the individual modules are described and the calculation of forward kinematics and simulation of inverse kinematics is made at the end of the thesis.

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48

Larsson, Fredrik. "Visual Servoing Based on Learned Inverse Kinematics." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8710.

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<p>Initially an analytical closed-form inverse kinematics solution for a 5 DOF robotic arm was developed and implemented. This analytical solution proved not to meet the accuracy required for the shape sorting puzzle setup used in the COSPAL (COgnitiveSystems using Perception-Action Learning) project [2]. The correctness of the analytic model could be confirmed through a simulated ideal robot and the source of the problem was deemed to be nonlinearities introduced by weak servos unable to compensate for the effect of gravity. Instead of developing a new analytical model that took the effect of

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49

Xu, Qing Song. "Kinematics, dynamics and control of parallel robots." Thesis, University of Macau, 2004. http://umaclib3.umac.mo/record=b1446180.

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50

Bull, Anthony Michael James. "Measurement and computer simulation of knee kinematics." Thesis, Imperial College London, 1999. http://hdl.handle.net/10044/1/8379.

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