A 6 degree of freedom (DOF) robot arm is controlled using the ROS2 robotic manipulation platform, MoveIt 2. The ROS2 Humble version of MoveIt 2 is used, which runs in a Docker container on an Nvidia Jetson Nano board. The robot arm is equipped with an Intel Realsense D415 depth camer...
This work selects a four-degree-of-freedom (DOF) parallel robot with translational freedoms in the x, y, and z directions and a rotational freedom in the z direction, driven by four motors connected to four sets of parallel suspension cables, as the subject for dynamic modeling verification ...
Kinematics analysis aims to achieve the mapping of the robot from joint space to pose space, and then obtain its workspace17. Currently, there are many methods for kinematic modeling, including space vector polygon method, quaternion method, homogeneous coordinate representation method, D–H parameter...
Modelling and Control of 5DOF Robot Arm using ANFIS Toolbox In this paper modeling and control of 5 level of freedom robotic arm is presented. It provides forward and inverse kinematics is derived based on Denavit-H... P Agnihotri,Banga Vk,Gurjeet Singh Er - Research & Reviews 被引量: ...
Although the above models are state-of-the-art (SOTA) methods for sequence modeling, their Markov property constrains them to parallel train, which extends training time. The emergence of the temporal convolutional network (TCN) has alleviated the problem, but the prediction accuracy still needs ...
Linlin Zhang1, Huibin Du2, Zhiying Qin1,Yuejing Zhao1 & Guang Yang1 Inverse kinematics of redundant robots presents a challenging problem for real-time applications due to the lack of uniqueness of solution and the low computational efficiency caused by redundancy and hard ...
In order to solve the inverse kinematics (IK) of complex manipulators efficiently, a hybrid equilibrium optimizer slime mould algorithm (EOSMA) is proposed. Firstly, the concentration update operator of the equilibrium optimizer is used to guide the anis
The inverse kinematics problem is the problem of finding a vector of joint variables which produce a desired end effector location. If a unique vector of joint angles exists which attains the desired end-effector location, there is a well-defined inverse to the forward kinematics function and the...
(2) Methods: The present study investigates the plausibility of different growth kinematics in modeling Abdominal Aortic Aneurysm (AAA) evolution in time. A... G Andrii,E Thomas,W Paul,... - 《Materials》 被引量: 4发表: 2017年 Spatial adaption of robot trajectories based on laplacian traject...
Modeling, Simulation and Control of the Walking of Biped Robotic Devices, Part II: Rectilinear Walking Redundancy and the prioritization of postural tasks is approached with weighted least squares. The singularity of the kinematics when knees are fully extended is solved very simply by fake knee join...