Humanoid robot with two independent closed loops, F and H, formed by frictionless contact joints at the feet and hands, respectively. The loop-closure link velocities are denoted as VF and VH. The end-link velocities V‾ejm signify instantaneous motions in the unconstrained directions at each ...
The tree depicts the kinematic chain, the connection of robotic linkages to joints, and their inter-dependencies. The underlying geometric information and the tree structures are expressed in the Unified Robot Description Format (URDF), which can be used to describe any robot, as shown in Fig. ...
To expand the scope of our approach, potential future work could involve adapting the proposed method to different types of joints, such as prismatic or revolute joints. Additionally, it would be valuable to optimize and validate the method on a wider range of robotic systems and scenarios, incl...
The commonly used joints allow either 1,2 or 3 DoF. Figure 8.2 shows several types of joints. Fig. 8.1 Independent motions of a free body in space. 3 translations and 3 rotations along and about the 3 axes (x, y, z) 4 1 5 X 3 62 Z Y 8 Kinematic Design 269 Revolute joint ...
Both the robotic system and the measurement system are required to achieve good thermal stability. As shown in Figure 9, the pose error is measured using an API Radian laser tracker, with a position measurement accuracy of μμ10μm+5μm/m. The calibration experiment employs the Radian laser...
RoboticmanipulatorKinematicanalysisTwo-DOFjointThis paper aims to introduce a new design concept for robotic manipulator driven by the special two degrees of freedom (DOF) joints. Joint as a basic but essential component of the robotic manipulator is analysed emphatically.Design/methodology/approach The...
The unique coiling and uncoiling motion pattern of the mechanism has been applied in the development of a novel sit-to-stand (STS) assistive robotic device (Fig.11a) designed for elderly and paraplegic individuals [29,30]. By integrating this mechanism, the device achieves a more natural and ...
R joints in limb 1 and limb 2 are denoted asA1andA2, respectively, while the centers of the U joints in limb 3 and limb 4 are denoted asA3andA4, respectively. Figure 2 CAD model of a 2UPR-2RPU parallel robot Full size image
that ensure specific joints are placed at the desired target locations p 1:N starting from initial positions p 1:N 0 . Thus, IK is defined by: R 1:N = IK(p 1:N , p1:N 0 ). IK is inherently an ill-posed problem. Target configuration ...
A serial robot manipulator consists of links connected by joints. The joints can be of different types and have one or more degrees of freedom (DOF). However, since most modern robots use only rotary joints, we assume in the following that the robot has only rotary joints with one DOF. ...