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Multiple Solutions of Direct Kinematics of 3-RPR Parallel Manipulators
It is well known that the direct kinematics of planar 3-RPR parallel manipulators has six solutions. In this paper conditions for multiple solutions...
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Inverse and Direct Kinematics of a Modified Stewart-Gough Platform
This paper presents the development and testing of a numerical method for the direct and inverse kinematic calculation of a passive flexible...
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A Conceptual and Straightforward Approach for Solving the Closed-form Direct Kinematics of a General Coplanar 6-
P US Parallel ManipulatorThe proper synthesis of simulators is critical as they allow trainees to experience dangerous maneuvers. The most widely used simulator is the...
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Inverse Kinematics
In the previous section, we derived the model for the forward kinematics: we calculated the TCP pose given the values of the joint axes. In this...
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Kinematics of a three-legged 1R2T decoupled parallel manipulator
In this work, the kinematics of a three degrees of freedom parallel manipulator able to execute two independent translations and one independent...
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Forward Kinematics
There are two fundamental functions in a robot’s kinematic model: the forward transformations and the inverse transformations. The forward operation,...
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Study of Kinematics for Industrial Robots
Kinematic study plays a significant task for proper understanding of multi-degree of freedom (m-DOF) industrial robots. This research involves the...
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Kinematics of Industrial Processes
Many manufacturing processes in the process industry are modeled using the theory of axially moving continua. In this book, we apply this perspective...
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The effects of anatomical errors on shoulder kinematics computed using multi-body models
Joint motion calculated using multi-body models and inverse kinematics presents many advantages over direct marker-based calculations. However, the...
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Forward kinematics solution for a general Stewart platform through iteration based simulation
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse...
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The Evolving Role of Robot Kinematics in Bio-Nanotechnology
The fusion of kinematics, a field centered on motion and geometry, with molecular biology has opened new avenues in disease diagnosis and treatment,...
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Theoretical and experimental investigation on direct kinematic of pick and place 4R robotic arm using algebraic and software approach
The main objective of this research is to understand the concept of Direct (Forword) Kinematics, which deals with how a robotic arm can be programmed...
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Learning inverse kinematics using neural computational primitives on neuromorphic hardware
Current low-latency neuromorphic processing systems hold great potential for develo** autonomous artificial agents. However, the variable nature...
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Design and Kinematics of Mechanically Coupled Two Identical Spherical Robots
The use of spherical robots in outdoor operations has increased because they can move on uneven/three-dimensional (3D) terrain. Since the...
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Probik: Protein Backbone Motion by Inverse Kinematics
To investigate the parameters of the protein design problem that we are exploring in collaboration with biochemists, we developed a tool that uses...
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Inverse Kinematics
What are the joint variables for a given configuration of a robot? This is the problem to be answered by inverse kinematic analysis. In this chapter,...
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Kinematics of Mechanisms ain’t an Old Hat!
Much has been written by scholars about how kinematics of mechanisms came into existence in the middle of the nineteenth century spurred by the first...
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Velocity Kinematics
Velocity analysis of a robot is divided into forward and inverse velocity kinematics. Having the time rate of joint variables and calculating the...
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Acceleration Kinematics
Acceleration kinematics of robots is divided into forward and inverse acceleration kinematics. To study and develop the acceleration kinematics of...
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Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors
Underactuated cable-driven parallel robots (UACDPRs) displace a 6-degree-of-freedom end-effector (EE) with less than 6 cables. As a consequence, the...