Geometry, Kinematics, Workspace, and Singularities of a Novel 3-PRRS Parallel Manipulator
Robotics“Experiments were conducted at DIMEG, University of Calabria, located in the main campus in Arcavacata di Rende, Italy.” This article focuses on the study of the geometry, direct and inverse kinematics, workspace, and singularity of a novel 3-PRRS ...
Zhumadil Baigunchekov +5 more
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Simple Relations between Elements of the Three-Dimensional Orthogonal Matrix of the Basic Representation and Euler and RPY’ Angles [PDF]
In this Article transformation angles of the methods of RPY (Roll, Pitch and Yaw) and Euler are found using Spinor method [Milnikov A.A., Prangishvili A.I., Rodonaia I.D.
Hüseyin Önal
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Learnt inverse kinematics for animation synthesis
Graphical Models, 2006 Existing work on animation synthesis can be roughly split into two approaches, those that combine segments of motion-capture data, and those that perform inverse kinematics. In this paper, we present a method for performing animation synthesis of an articulated object (e.g. human body and a dog) from a minimal set of body joint positions, following the
Ong, Eng-Jon, Hilton, Adrian
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A Spinor Method of Solution of Manipulators’ Inverse Kinematics Problem with Rotational Pairs [PDF]
A new method and algorithm of solution of multijoint manipulators with rotational pairs inverse kinematic problem was created. The method is based on the principally new approach-spinor representation of the spatial generalized rotations.
Hüseyin Önal
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Robot Kinematics: Forward and Inverse Kinematics
, 2006 Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators.
Kucuk, Serdar, Bingul, Zafer
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Applied Sciences, 2017 The problem of inverse kinematics is fundamental in robot control. Many traditional inverse kinematics solutions, such as geometry, iteration, and algebraic methods, are inadequate in high-speed solutions and accurate positioning.
Guanwu Jiang +3 more
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Forward and inverse kinematics of double universal joint robot wrists [PDF]
A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom.
Williams, Robert L., II
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Kinematics, workspace and singularity analysis of a multi-mode parallel robot
, 2017 A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot.
Chablat, Damien +2 more
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IKBT: Solving Symbolic Inverse Kinematics with Behavior Tree (Extended Abstract) [PDF]
, 2020 Dianmu Zhang, Blake Hannaford
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Quasi-free (p,2p) reactions in inverse kinematics for studying the fission yield dependence on temperature [PDF]
, 2023 A. Graña-González +66 more
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