Results 211 to 220 of about 13,020 (259)

Inverse kinematics of a mobile robot

Neural Computing and Applications, 2012
The problem of kinematics is to describe the motion of the robotic system without consideration of the forces and torques causing the motion. This paper presents two methods to obtain the inverse kinematics of a mobile robot. In the first method, two rows of the forward kinematics are selected, the inverse of these two rows is obtained, and later the ...
Maricela Figueroa, JOSÉ De Jesus Rubio, De Jesús Rubio JOSÉ   +2 more
exaly   +2 more sources

Learning inverse kinematics

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002
Real-time control of the end-effector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates inverse kinematics learning for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies. Our learning
Aaron D'Souza, Sethu Vijayakumar, Stefan Schaal   +2 more
openaire   +1 more source

The Inverse Kinematic Problems

2017
The problem of recovering the sound speed (or index of refraction) from travel time measurements is an important issue in determining the substructure of the Earth.
Alemdar Hasanov Hasanoğlu, Vladimir G. Romanov   +1 more
openaire   +1 more source

On the Inverse Kinematics of Redundant Manipulators

The International Journal of Robotics Research, 1988
Many conventional nonredundant manipulators have singu lar configurations, near which some small motions of the end-effector require excessive and physically unrealizable joint speeds. Consequently, the usable workspace of the ma nipulator is effectively reduced.
Daniel R. Baker, Charles W. Wampler II
openaire   +1 more source

Inverse kinematics for control of JINPOONG

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2013
JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG.
Jin Tak Kim, Jung-San Cho, Byung-Yun Park, Sangdeok Park   +3 more
openaire   +1 more source

Inverse kinematics for a multifingered hand

Proceedings. 1988 IEEE International Conference on Robotics and Automation, 2003
One aspects of the control of multifingered hands is discussed, nearly inverse kinematics. For a serial-link manipulator with a multifingered hand attached to its distal link, the inverse kinematics of the hand and of the manipulator can be treated separately. The inverse kinematic solution for a three-fingered, nine-degree-of-freedom hand is described.
Tom Koehler, Max Donath
openaire   +1 more source

On the solution to the inverse kinematic problem

Proceedings., IEEE International Conference on Robotics and Automation, 2002
A nonalgorithmic method is presented for the solution to the inverse kinematic problem of a robot. The method is robot independent and involves a hybrid approach whereby a neural solution is augmented with an iterative procedure which provides the final solution within some specified tolerance.
Ziauddin Ahmad, Allon Guez
openaire   +1 more source

Inverse kinematics of calibrated robots

Journal of Robotic Systems, 1990
AbstractThis article presents a new approach for solving the inverse kinematics of calibrated industrial robots. The presented method solves this type of inverse kinematics problem, which has no analytical (explicit) solution, by iteratively employing Pieper's solution for inverse manipulator kinematics.
Zhiming Ji, Ming C. Leu
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A note on the inverse kinematic problem

Robotics and Autonomous Systems, 1988
Abstract In this paper, a new formulation for the inverse kinematic problem in cartesian coordinates is developed, to analyze the movement of a robot arm with multiple links from one point in space to another point. In this model the only decision variables are the coordinates of each joint of the robot arm with respect to the base of the robot arm ...
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An inverse kinematic solution for kinematically redundant robot manipulators

Journal of Robotic Systems, 1984
AbstractAn inverse kinematic analysis addresses the problem of computing the sequence of joint motion from the Cartesian motion of an interested member, most often the end effector. Although the rates and accelerations are related linearly through the Jacobian, the positions go through a highly nonlinear transformation from one space to another. Hence,
Se-Young Oh, David E. Orin, Michael Bach
openaire   +1 more source