Temat: inverse kinematic - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Inverse kinematics model for a 18 degrees of freedom robot
Autorzy:: Ortega-Palacios, Miguel Angel
Palomino-Merino, Amparo Dora
Reyes-Cortes, Fernando
Powiązania:: https://bibliotekanauki.pl/articles/27314227.pdf
Data publikacji:: 2023
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: bioloid premium robot
forward kinematics
inverse kinematic
kinematic chain
Opis:: The study of humanoid robots is still a challenge for the scientific community, although there are several related works in this area, several limitations have been found in the literature that drive the need to develop an inverse kinematic modeling of biped robots. This paper presents a research proposal for the Bioloid Premium robot. The objective is to propose a complete solution to the inverse kinematics model for a 18 DOF (Degrees Of Freedom) biped robot. This model will serve as a starting point to obtain the dynamic model of the robot in a subsequent work. The proposed methodology can be extended to other biped robots.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2023, 17, 1; 21--29
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Artificial neural network for solving the inverse kinematic model of a spatial and planar variable curvature continuum robot
Autorzy:: Ghoul, Abdelhamid
Kara, Kamel
Djeffal, Selman
Benrabah, Mahomed
Hadjili, Mohamed Laid
Powiązania:: https://bibliotekanauki.pl/articles/27309873.pdf
Data publikacji:: 2022
Wydawca:: Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:: continuum robots
inverse kinematic model
artificial neural network
roboty kontinuum
odwrotny model kinematyczny
sztuczna sieć neuronowa
Opis:: In this paper, neural networks are presented to solve the inverse kinematic models of continuum robots. Firstly, the forward kinematic models are calculated for variable curvature continuum robots. Then, the forward kinematic models are implemented in the neural networks which present the position of the continuum robot’s end effector. After that, the inverse kinematic models are solved through neural networks without setting up any constraints. In the same context, to validate the utility of the developed neural networks, various types of trajectories are proposed to be followed by continuum robots. It is found that the developed neural networks are powerful tool to deal with the high complexity of the non-linear equations, in particular when it comes to solving the inverse kinematics model of variable curvature continuum robots. To have a closer look at the efficiency of the developed neural network models during the follow up of the proposed trajectories, 3D simulation examples through Matlab have been carried out with different configurations. It is noteworthy to say that the developed models are a needed tool for real time application since it does not depend on the complexity of the continuum robots' inverse kinematic models.
Źródło:: Archive of Mechanical Engineering; 2022, LXIX, 4; 595--613
0004-0738
Pojawia się w:: Archive of Mechanical Engineering
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: An inverse kinematic model of the human training centrifuge motion simulator
Autorzy:: Lewkowicz, Rafał
Kowaleczko, Grzegorz
Powiązania:: https://bibliotekanauki.pl/articles/281359.pdf
Data publikacji:: 2019
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: inverse kinematic
simulator
centrifuge
motion system
Opis:: The paper presents an inverse kinematic model for a centrifuge motion simulator used to verify newly defined absolute acceleration profiles. The modelling is concerned with a human training centrifuge with three degrees of freedom. The values of kinematic parameters have been obtained for this three-jointed manipulator. Validation of the developed model has been performed by comparing the results obtained from the centrifuge motion simulator with the results of numerical simulations. The simulation revealed that the inverse kinematic model enabled calculation of the angular displacement, velocity and acceleration of the links that are needed for the given linear acceleration of the simulator cabin.
Źródło:: Journal of Theoretical and Applied Mechanics; 2019, 57, 1; 99-113
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Some aspects of topology and kinematics of a 3DOF translational parallel mechanism
Autorzy:: Bałchanowski, J.
Powiązania:: https://bibliotekanauki.pl/articles/955309.pdf
Data publikacji:: 2014
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: mechanizmy równoległe
topologia
kinematyka
parallel mechanism
topology
direct and inverse kinematic
singularities
Opis:: The paper presents elements of the topology, geometry and the kinematic analysis of a translational parallel mechanism with three degrees of freedom. In such mechanisms the selection of a proper structure and geometry ensures that the driven link maintains a fixed orientation relative to the base. The method of determination of the configuration of mechanisms using contour vector notation was elaborated in the paper. The equations for the analysis of the direct and inverse kinematics task are determined. An analytical procedure for determining the system’s singular positions is presented and illustrated with examples.
Źródło:: International Journal of Applied Mechanics and Engineering; 2014, 19, 1; 5-15
1734-4492
2353-9003
Pojawia się w:: International Journal of Applied Mechanics and Engineering
Dostawca treści:: Biblioteka Nauki

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