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 8 of 8 for “"forward kinematic"”.
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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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Design of a low-cost high-performance flexural six degree-of-freedom positioning stage
… The motion platform presented is a parallel kinematic machine supported by six flexural legs that each ride on a ball screw assembly. The required degrees of freedom and range of motion for the flexural and rolling elements are analyzed. The stiffness and stress analysis of each element is …
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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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Safe anatomy-driven tracking for navigation and robotics in medical and surgical procedures
… skull-mounting mechanism, the device provides forward-kinematic tracking of neurosurgical instruments, eliminating the need for traditional infrastructure-intensive tracking systems and enabling use in bedside emergency surgery settings. The second platform is an autonomous eye examination …
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The solution of variable-geometry truss problems using new homotopy continuation methods
… and formulation procedure for developing 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 …
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Cerebral spasticity modeled as disorded equilibrium point control
… of joint motion, representing space and time. A forward dynamic model has been developed that can reproduce kinematic data through the using optimized model parameters. The incorporation of the equilibrium point hypothesis in forward model was not only recognition that examination of the entire …
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Machining accuracy enhancement using machine tool error compensation and metrology
… building a quasi-static error model. Perturbed forward kinematic model is used for modeling a 5-axis Computer Numerical Control (CNC) machine with one redundant linear axis. It is found that the 1st order volumetric error model of the 5-axis machine is attributed to 32 error parameter groups. To …
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Design and analysis of a three degrees of freedom (DOF) parallel manipulator with decoupled motions
… is connected to a fixed base by at least two kinematic chains in parallel. Parallel manipulators can provide several attractive advantages over their serial counterpart in terms of high stiffness, high accuracy, and low inertia, which enable them to become viable alternatives for wide …