kinematicsknowledge based systemslogic programmingoptimisationrobots/ algorithm optimizationrule-based systemdirect kinematic solutionroboticsThe computation burden of intensive numerical real-time algorithms is a problem encountered in robotics and many other fields. A cost-effective solution for the ...
Structural kinematics of in-parallel actuated robot arms ASME Journal of Mechanisms, Transmission and Automation in Design (1983) G.R. Pennock et al. Kinematic analysis of a planar eight-bar linkage – application to a platform – type robot ASME Journal of Mechanical Design (1992) There are ...
This paper describes the implementation of a modification of the Newton-Raphson algorithm to produce the inverse kinematics solutions to fulfil this requirement. The system is based on using the parallel processing capabilities of the Inmos transputer. Positioning accuracy experimental results from two ...
For robots with other kinematics, you can modify the constraints in the NRMP layer to suit your needs. The DUNE model trained in simulation can be directly applied in the real world without retraining. NeuPAN solves the mathematical optimization problem in real time. Thus, its performance is ...
We examined full-body kinematics and hand interaction forces during the period of steady-state walking for each trial. Our results show intended changes to step frequency and low (< 20 N) hand forces across backleading conditions. Figure 1 Partnered human–human backleading experiment setup and...
https://www.seas.upenn.edu/~meam620/slides/kinematicsI.pdf Lidar Visual odometry Lidar-Monocular Visual Odometry Code:https://github.com/johannes-graeter/limo Paper:https://arxiv.org/pdf/1807.07524.pdf RGBD and LIDAR Google's cartographer. Available on ROS ...
To overcome such intricacy, Peter Corke's Robotics Toolbox [1] is utilized in the present study. This paper aims to model the direct kinematics of a 6 degree of freedom (DOF) Robotic arm. The Toolbox uses the Denavit-Hartenberg (DH) Methodology [2] to compute the kinematic model of ...
In European Robotics and Intelligent Systems Conference , Corfù, 1991.C. Innocenti and V. Parenti-Castelli, "Direct kinematics of the 6-4 fully parallel manipulator with position and orientation uncoupled," in Robotic Systems, ser. Intelligent Systems, Control and Automation: Science and Engineering...
In this paper we introduce four new posture-dependent performance indices for control. Two of them are based on an object-oriented metric in the workspace (end-effector dependent) and the other on a linearized approximation of direct kinematics (end-effector independent). All newly defined indices...
Motion kinematics analysis of wheeled-legged rover over 3D surface with posture adaptation 2010, Mechanism and Machine Theory Show abstract α-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion 2023, IEEE Transactions on Robotics Mobile Robot Control and Navigation: A...