Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 10 of 10 for “"Forward kinematics"”.
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Design of a triple singularity drive for mobile wheeled robots
… modeling of the system. Both the inverse and forward kinematics are derived and validated through a path following experiment using an open loop controller. For this experiment, the robot was given a 1 meter square path as the desired trajectory, and coded to follow this path at 1 m/s speed. …
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Design and analysis of a three degrees of freedom (DOF) parallel manipulator with decoupled motions
… also have some disadvantages, such as complex forward kinematics, small workspace, complicated structures, and a high cost. To overcome the above shortcomings, progress on the development of parallel manipulators with less than 6-DOF has been accelerated. However, most of presented parallel …
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Elliptical Rolling Link Toggle Mechanisms for Passive Force Closures with Self-Adjustment
… These parameters are used to generate the basic forward kinematics for elliptical rolling link toggle mechanisms with oscillatory motion and high mechanical advantage. As large compressive loads are characteristic of such mechanisms, stress conditions are identified and principles for joint …
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Modeling and Estimation of Motion Over Manifolds with Motion Capture Data
… methods are then implemented to estimate forward kinematics using motion capture data of a human running along a treadmill. The final study of this dissertation contains an examination of the continuous time regression problem over subsets and manifolds. Rates of convergence are determined …
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Sensitivity Analysis and Optimization of Multibody Systems
… Tech) is developed in Fortran 2003, with forward kinematics and dynamics, sensitivity analysis, and optimization capabilities. Several different contact and friction models, which can be used to model point contact and surface contact, are developed and included in MBSVT. Finally, this …
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The solution of variable-geometry truss problems using new homotopy continuation methods
… the kinematic equations associated with the forward kinematic problem of each of the above is described. Another intent of this work is to present a new and efficient technique for solving the forward kinematics problem of VGTs. All VGT problems lead to systems of equations. Commonly, such …
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Hierarchical design of morphing shape-memory polymer structures via topology optimization
… of a thermal gradient. This study puts forward an optimization framework for systematic design of shape morphing structures capable of exhibiting large deformations with SMPs. A hierarchical two-stage design procedure is adopted. In the first stage, basic unit structures including a …
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Surrogate models for the design and control of soft mechanical systems
… well defined analytical models to capture its forward kinematics. Two RL-based frameworks are evaluated on the BR2 manipulator and their efficacy in carrying out position control using simple state feedback is reported in this work. The results highlight external load invariance of the learnt …
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Kinematics Analysis of Two Parallel Locomotion Mechanisms
This dissertation presents the kinematics study on two cases of parallel locomotion mechanisms. A parallel locomotion mechanism can be defined as "a mechanism with parallel configuration and discrete contact with respect to the ground which renders a platform the ability to move". The first case is …
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Plánovaní optimální trajektorie Rn manipulátoru v prostoru s překážkami
Tato práce se zabývá navigací manipulátorů v prostoru s překážkami s využitím upraveného algoritmu A*.