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 28 for “"Inverse kinematic"”.
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Design of human-like posture prediction for inverse kinematic posture control of a humanoid robot
… and system has been developed to solve the kinematic redundancy for a humanoid redundant manipulator based on forward kinematic equation and the optimization of human-like constraints. The Multiple Objective Optimization (MOO) is preformed using a Genetic Algorithms (GA) and implemented …
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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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Design and construction of a double-octahedral variable geometry truss manipulator
… research projects. In this thesis, a kinematic model is formulated, and the forward and inverse kinematic problems are solved. Issues of motor and instrumentation choices are addressed. Dimensional choices and the important problems of joint design are examined. A computer simulation …
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Kinematic analysis and animation of a variable geometry truss robot
In this thesis, forward and inverse kinematic equations are developed for a parallel, closed-loop manipulator known as the Variable Geometry Truss or VGT for short. Widely recognized as adaptive or collapsing structures for space and military applications, VGTs have not received due consideration …
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Three-dimensional modeling and simulation of manufacturing processes for transmuter fuel fabrication
… handling operation was produced. Forward and inverse kinematic routines were implemented for a commercially available robotic manipulator, as well as path planning routines. Multiple software packages were integrated and used to create 3-D robotic manipulator models and simulate the model; A …
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Canonical solution groups of a homomorphism : manipulator kinematics, nonparametric regression and distributed object systems
The kinematic mapping of a rigid open-link manipulator is a homomorphism between Lie groups. The homomorphisrn has solution groups that act on an inverse kinematic solution element. A canonical representation of solution group operators that act on a solution element of three and seven …
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Design of 3-DOF parallel manipulators for micro-motion applications
… thesis presents two unique micro-motion parallel kinematic manipulators (PKM): a three degrees of freedom (3-DOF) micro-motion manipulator and a 3-DOF micro-motion manipulator with actuation redundancy. The 3-DOF micro-motion manipulator has three linear-motion driving units, and the 3-DOF …
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Design and optimization of a macro-micro manipulator featuring a 3-UPS compliant parallel mechanism
… design of the macro-micro manipulator, kinematic modeling and inverse kinematic analysis, formulation of Jacobian matrix; micromanipulator-focused stiffness evaluation, workspace analysis and structural optimization of stiffness and workspace properties.
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Inverse dynamic modeling for characterization of spasticity
… interventions for this disabling phenomenon. An inverse model is implemented to describe the motion in the pendulum knee drop test. Inverse kinematic modeling is implemented to investigate the pathophysiology of spasticity. Using the equilibrium point hypothesis as a conceptual framework to …
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The use of instrumented measures to describe lower extremity joint mechanics
… those calculated by the angle sensor using the inverse kinematic equation for a damped pendulum. By knowing the kinematic torques occurring during the movement, any extra torque generated by pathological involuntary muscle contraction can be accurately quantified for a better description of the …
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Design and implementation of test-bed for path planning and formation control of cooperative robotic agents
… of two mechanically motorized differential drive kinematics systems. We then discuss the capabilities of our platform with basic behaviors such as: path-to-goal, avoid-obstacle, maintain relative distance, maintain relative angle (formation), and maintain general speed to form a guidance …
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A waypoint-driven gradient descent solution for a parallel robot
… computes arm motion by solving a series of inverse kinematic relations for each segment. This requires a user input of a three-dimensional coordinate to a kinematics solver for a robot in a complex and unknown operating space with parasitic displacement characteristics. This new …
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Error modeling of the carpal wrist
… having a large, spherical workspace and simpler kinematic solutions. The Carpal wrist is a unique parallel mechanism consisting of a fixed base and a movable output plane connected via three serial kinematic chains. The forward and inverse kinematic problems of the Carpal wrist are solved …
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A study of the flexible space platform based deployable manipulator
… parameters, the system can become unstable. An inverse kinematic technique, accounting for the linear and angular displacements of the flexible platform, has been developed to meet the desired position and orientation requirement of the end effector with respect to the chosen reference frame. A …
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Development and validation of a posture prediction algorithm
… of the worker with five links using inverse kinematic procedures to calculate the postures. The model chooses a posture by optimizing an objective function using a nonlinear programming search. Three separate models have been formulated to predict the postures of 16 subjects humans …
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Research on hybrid manufacturing using industrial robot
… system. Based on analyzing the robot forward/inverse kinematic, the angle error sensitivity of different joint and the stiffness matrix properties of robot, new evaluation formulations are established to help finding the best position and orientation to perform a specific trajectory within the …
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Improved design of three-degree of freedom hip exoskeleton based on biomimetic parallel structure
… done to support it. The mobility analysis and inverse kinematic solution are derived, and the Jacobian matrix was derived analytically. Performance of the CAD model has been checked by the finite element analysis in Ansys, which is based on applied force and moment. The comparison of the …
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Movement Optimization of Robotic Arms for Energy and Time Reduction using Evolutionary Algorithms
… and cycle time optimization, using a robot inverse kinematic model for simulation. This research offers insights into the influential factors, including robot type, task performance, and operating conditions, contributing to a more efficient and environmentally conscious industrial robotics …
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Robot motion planning with contact from global pseudo-inverse map
… Here, we utilize pre-computed global pseudo-inverse map (inverse kinematic map for each contact-state that has property of global resolution, connected by connectivity functions) to generate multi-contact motion from current configuration to the goal without need for an initial seed. …
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An integrated approach to the optimal sequencing of robot operations in a workcell
… type of robot used in this study its closed form inverse kinematic solution is known. The objective is to determine the sequence of robot operations so as to minimize the total time needed to complete all jobs (known as makespan). The integrated approach consists of determining optimal robot task …
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