Results 221 to 230 of about 23,187 (263)

On the forward kinematics of cable-driven parallel robots

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Most cable-driven parallel robots are kinematically over-constrained mechanisms. This results in a non-trivial computation of the forward kinematic transformation. It is well known that the forward kinematics of parallel robots may have multiple solutions and in general the convergence of numerical methods is unknown.
Andreas Pott, Valentin Schmidt
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Full forward kinematics of redundant kinematic hybrid manipulator

Applied Mathematical Modelling, 2018
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Yi Lu, Zhuohong Dai, Peng Wang
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Bounds on the derivatives of the forward kinematic map for open-kinematic-chain manipulators

Proceedings, 1989 International Conference on Robotics and Automation, 2003
The authors develop simple, configuration-independent bounds for the Jacobian and the higher order derivatives of the forward kinematic map of a manipulator with revolute and prismatic joints. In doing so they obtain: a simple formula for the higher order derivatives of the forward kinematic map; an easily computable and meaningful metric on the group ...
Greg Heinzinger, Brad E. Paden
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Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots

Journal of Mechanisms and Robotics, 2020
Abstract This paper focuses on the forward kinematic analysis of (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robots. Because all of the singularities are avoidable, the robot can cover a very large orientational workspace.
Kefei Wen, Clément M. Gosselin
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Learning Forward and Inverse Kinematics Maps Efficiently

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
When learning forward and inverse kinematics maps of manipulators, usually little attention is paid to data-efficiency, i.e., the accuracy gained per action-outcome sample. This paper examines properties of popular (online) learning techniques and demonstrates that - regardless of the employed exploration strategy - the structure of kinematics mappings
Daniel Kubus, Rania Rayyes, Jochen J. Steil   +2 more
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A study of kinematic models for forward calibration of manipulators

Proceedings. 1988 IEEE International Conference on Robotics and Automation, 2003
The objective of robot calibration is to identify all parameters in a robot model so that the model represents the true robot. Each model has its own set of parameters. The authors prove that regardless of the kinematic model chosen, there are a maximum number of parameters that must be determined, implying that model accuracy cannot be improved by ...
Louis J. Everett, Adwin H. Suryohadiprojo   +1 more
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Design and forward kinematic analysis of a robotic snake

Proceedings of International Conference on Robotics and Automation, 2002
In this paper a new kind of robotic mechanism is proposed to be used for inspection tasks in complex setups of industrial plants. The shape and motion capabilities of biological snakes are adopted as generic design guidelines. We propose a multi-articulated mobile robot, with a body consisting of repeating modules, capable for both moving efficiently ...
G. Migadis, Kostas J. Kyriakopoulos
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Forward kinematic model for continuum robotic surfaces

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
In this paper, we consider the modeling of robotic continuous “continuum” two-dimensional surfaces. We discuss the fundamental differences between such robot surfaces and traditional rigid link and continuum robots. We then introduce new kinematic models for continuum robotic surfaces.
Jessica Merino, Anthony Threatt, Ian D. Walker, Keith Evan Green   +3 more
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In-hand forward and inverse kinematics with rolling contact

Robotica, 2017
SUMMARYRobotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation.
Lei Cui 0005, Jie Sun, Jian S. Dai 0001
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An Method for Forward Kinematics of Stewart Parallel Manipulators

2008
A general 6-DOF parallel manipulator has 40 solutions to forward kinemantics, but most of them are in imaginary domain. This paper presents a simple numerical method for forward kinematics of a general 6-DOF parallel manipulators, which can generate a unique actual solution directly.
Peidong Wu, Changlin Wu, Lianqing Yu
openaire   +1 more source