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.
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Showing 1 to 20 of 65 for “"Inverse Kinematics"”.
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Numerical inverse kinematics for a six-degree-of-freedom manipulator
… theory and practice. The development of general inverse kinematic solution techniques is new, hence few detailed applications of these methods exist. Before methods such as these were available, most commercial manipulators were designed to be geometrically simple, yielding 4th or lower degree …
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Motion Planning along Manifolds with Geodesic Convexity and Analytic Inverse Kinematics
Collision-free motion planning is a fundamental problem in robotics. Most motion planning algorithms operate in the configuration space of a robot, where each dimension corresponds to an individual degree of freedom. Oftentimes, these configuration spaces can be viewed as Euclidean spaces, and many …
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Novel energy-optimal solutions to the inverse kinematics problem of redundant manipulators
… is limited.;This thesis presents a study about inverse kinematics algorithms for redundant manipulators, aimed at optimising the energy required to perform manipulation tasks. First, a literature review surveying inverse kinematics and optimisation for both fixed-base and free-floating …
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Finger walking control of a two-dimensional walking model through inverse kinematics
… for real time walking control of the model with inverse kinematics, plus had few options to help keep stability of the model. A Flock of Birds motion capture system in conjunction with a VRML model provided much better control of a leg model in the sagittal plane. The foot position and angle were …
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Artificial neural networks for the computation of the inverse kinematics of redundant manipulators
… position coordinates is described by Kinematics. Therefore, the robot manipulator Kinematics help to obtain the robot’s end-effector’s position coordinates with respect to the values of the joint angles variables. On the other hand, in many applications, the end-effector’s desired …
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Neutron spectroscopic factors of Nickel-56 via Nickel(p,d)-56 Nickel-55 reaction in inverse kinematics
… to utilize these beams in transfer reactions in inverse kinematics. The exact shell structure of the unstable doubly magic nucleus 56Ni has attracted a lot of interest recently. To test if 56Ni has a closed f7/2 orbital, we have carried out the 56Ni(p,d)55Ni transfer reaction measurement with the …
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Design and Implementation of Stewart Platform Robot for Robotics Course Laboratory
… applying and verifying the Stewart Platform inverse kinematics and investigating the Stewart Platform’s operation, range of motion, and limitations. The Stewart Platform geometry and inverse kinematics were modeled and animated using MATLAB. The platform was then built using linear actuators, …
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A Geometric Approach for Generating Feasible Configurations of Robotic Manipulators
… However, this results in a geometry of motion or kinematics that makes all aspects of robotic manipulation challenging from a computational perspective. A major part of this challenge lies in the fact that computing joint configurations adhering to a specific set of constraints (i.e., gripper …
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Kinematic Modeling and Dynamic Aspects of an Accelerating Quadruped
… A secondary consideration is the deployment of inverse kinematics to determine the end effector trajectory of the front leg, both in the real spatial frames and phase space domains, as well as the angular rates required for these target manifolds. The parameterised inverse kinematics models were …
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Symbolic automation and numerical synthesis for robot kinematics
… research analyzes three topics in robot arm kinematics. First, the direct kinematics which determines the Cartesian position and orientation of the end effector for the specified values of joint parameters is analyzed. Second, the differential motions concerning the differential relationships …
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Methods for Kinematic Analysis and Optimization of Overactuated Serial and Parallel Structures
… kinematic solutions for, as neither forward nor inverse kinematics of a system are closed form. The first work presented focuses on presenting algorithms and optimization functions pertaining to the kinematic configuration of a SP-Stack. It first presents two methods of fast inverse kinematics …
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Design and development of estimation and control system for robot-assisted surgery.
… an improved deep learning model, and a control-kinematics architecture. The first framework employs a deep learning model combined with a Kalman filter for continuous tracking and spatial feedback estimation using quadratic polynomials, Euclidean distance, and vector-based angle measurement. …
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A heuristic approach for path planning for redundant robots
… of the output from the fuzzy logic controller. Inverse kinematics is used to bring the end-effector to the target point; Several fuzzy logic controllers combined with heuristic algorithms are used to avoid the obstacles in the workspace and to avoid self collision of the links.
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Building Modular, Human-Interpretable AI Systems with Behavior Trees
… covered in this thesis are: 1) IKBT: solving inverse kinematics with behavior trees. IKBT demonstrates how manually designed behavior trees with domain-specific knowledge are capable to solve problems that were usually handled by human experts before. 2) Behavior tree for efficient …
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Development of an AI-driven robotic manipulation framework
… of robotics. Additionally, a cross-platform kinematics solver architecture is introduced to assess inverse kinematics algorithms for manipulators. Compared to the traditional kinematics solver implemented as ROS plugins, this architecture integrates the sophisticated mathematical capabilities …
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SCRIPTS : on the description of computer animated images
… and simple mechanics, collision detection and inverse kinematics functions.
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Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
… thesis, is first introduced by describing the inverse kinematics of its legs. The principles of the omni-directional gait generator that creates walking motions and overcomes the robot's mechanical deficiencies is discussed. We develop and implement two kinds of feedback controllers; one is the …
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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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Design, optimization, and prototyping of a three translational degree of freedom parallel robot
… the stiffness. The design is analyzed and the inverse kinematics, Jacobian, sti ness and dexterity relations are formulated. The relations are then converted into a form that is usable by MATLAB to calculate di erent workspaces that illustrate the advantages of the new design. Subsequently, an …
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Optimal self assembly of modular manipulators with active and passive modules
… cooperative algorithms for forward and inverse kinematics, grasping, and mobility with this arm.
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