Informacja

Drogi użytkowniku, aplikacja do prawidłowego działania wymaga obsługi JavaScript. Proszę włącz obsługę JavaScript w Twojej przeglądarce.

English (EN)·Polski (PL)·Yкраїнський (UK)
Przejdź do strony domowej biblioteki Centralna Biblioteka Wojskowa Link otwiera się w nowym oknie Logo biblioteki Prolib Integro - strona głównaCentralna Biblioteka Wojskowa

Wyszukujesz frazę "kinematyka odwrotna" wg kryterium: Temat

  Lista filtrów
Wyrównaj
    Wyświetlanie 1-8 z 8
    Tytuł:
    Prototyp manipulatora do zadań specjalnych
    A prototype of manipulator for special tasks
    Autorzy:
    Świstak, Ł.
    Szrom, D.
    Szlachta, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/267119.pdf
    Data publikacji:
    2014
    Wydawca:
    Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
    Tematy:
    manipulator
    modelowanie
    kinematyka odwrotna
    modeling
    inverse kinematics
    Opis:
    W pracy opisano prototyp manipulatora przeznaczonego do pracy w warunkach szkodliwych. Przedstawiono strukturę oraz funkcjonalność manipulatora. Przedstawiany w artykule prototyp manipulator pozwala studentom zapoznać się z zagadnieniami kinematyki odwrotnej oraz konfiguracji osobliwej Prototyp manipulatora został wykonany w skali 1:5. Opracowany system składa się z konstrukcji manipulatora, wraz ze sterownikiem i modułem Bluetooth oraz aplikacją do obsługi robota.
    The work describes a prototype manipulator designed to work under harmful conditions. The prototype of manipulator enables students to familiarize with problems of inverse kinematics and singular configuration was presented. Developed manipulator has been built at a scale of 1:5. The article presents the structure and functionality of the manipulator. The developed system consists of wireless communication by Bluetooth and control system. The application window, which was written in C #, is dedicated to communicate with the manipulator. Control of manipulator is carried out in three modes of operation.
    Źródło:
    Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2014, 38; 69-72
    1425-5766
    2353-1290
    Pojawia się w:
    Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An exoskeleton arm optimal configuration determination using inverse kinematics and genetic algorithm
    Autorzy:
    Głowiński, Sebastian
    Błażejewski, Andrzej
    Powiązania:
    https://bibliotekanauki.pl/articles/306968.pdf
    Data publikacji:
    2019
    Wydawca:
    Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
    Tematy:
    algorytm genetyczny
    kinematyka odwrotna
    egzoszkielet
    ramię
    arm exoskeleton
    genetic algorithm
    inverse kinematics
    Opis:
    This paper deals with the kinematic modelling of an arm exoskeleton used for human rehabilitation. The biomechanics of the arm was studied and the 9 Degrees of Freedom model was obtained. The particular (optimal) exoskeleton arm configuration is needed, depending on patient abilities and possibility or other users activity. Methods: The model of upper arm was obtained by using Denavit–Hartenberg notation. The exoskeleton human arm was modelled in MathWorks package. The multicriteria optimization procedure was formulated to plan the motion of trajectory. In order to find the problem solution, an artificial intelligence method was used. Results: The optimal solutions were found applying a genetic algorithm. Two variants of motion with and the visualization of the change of joints angles were shown. By the use of genetic algorithms, movement trajectory with the Pareto-optimum solutions has been presented as well. Creating a utopia point, it was possible to select only one solution from Pareto-optimum results. Conclusions: The obtained results demonstrate the efficiency of the proposed approach that can be utilized to analyse the kinematics and dynamics of exoskeletons using the dedicated design process. Genetic algorithm solution could be implemented to command actuators, especially in the case of multi-criteria problems. Moreover, the effectiveness of this method should be evaluated in the future by real experiments.
    Źródło:
    Acta of Bioengineering and Biomechanics; 2019, 21, 1; 45-53
    1509-409X
    2450-6303
    Pojawia się w:
    Acta of Bioengineering and Biomechanics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Integracja czujników inercyjnych z konstrukcją robota humanoidalnego cz. II
    Integration of inertial sensors with humanoid robots body, part II
    Autorzy:
    Świątek-Brzeziński, P.
    Kosiński, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/152314.pdf
    Data publikacji:
    2013
    Wydawca:
    Stowarzyszenie Inżynierów i Techników Mechaników Polskich
    Tematy:
    robot humanoidalny
    kinematyka odwrotna
    Microsoft Robotics Developer Studio
    humanoid robots
    inverse kinematics
    Opis:
    W niniejszym artykule przedstawiono algorytmy sterowania robotem humanoidalnym firmy Futaba. Zaprezentowano wykorzystanie sztucznych sieci neuronowych, jako alternatywnego sposobu obliczenia kinematyki odwrotnej oraz wykorzystanie środowiska Microsoft Robotics Developer Studio do tworzenia złożonych, wielowątkowych aplikacji szeroko stosowanych w robotyce. Ponadto pokazano zastosowanie środowiska symulacyjnego VSE (Visual Simulation Environment) w procesie prototypowania algorytmów sterujących.
    This paper presents a control system for a Futaba humanoid robot [1]. It is equipped with a controller board based on a microcontroller with an ARM7TDMI core, a full set of inertial sensors and a 2.4 GHz wireless communication module. The controller uses the wireless communication module to send information about the robot state to a PC on which the controlling application is run. This paper focuses on the software part of the presented system (the hardware part has been presented in the first part of this paper). In order to develop a controlling algorithm, an analysis of robot kinematics was made and equations for direct kinematics were derived in consistency with the Denavit-Hartenberg convention. To eliminate the necessity of designating equations for inverse kinematics, which can be very complex due to the kinematic redundancy of the robot, an artificial neural network was used (Fig. 2). The application was written using the Microsoft Robotics Developer Studio designed for creating complex, multithread, distributed and scalable applications used in robotics. The application uses the data acquired by radio to implement the walking and balance-keeping algorithms. For visualization of the robot movement, testing and development of the algorithms without the risk of damaging the robot, a simulation in the Visual Simulation Environment, a part of the Microsoft Robotics Developer Studio, was created. A 3D model of the robot was used in this simulation (Fig. 4).
    Źródło:
    Pomiary Automatyka Kontrola; 2013, R. 59, nr 1, 1; 47-50
    0032-4140
    Pojawia się w:
    Pomiary Automatyka Kontrola
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A fast evaluation of initial configurations in repeatable inverse kinematics for redundant manipulators
    Autorzy:
    Duleba, I.
    Karcz-Duleba, I.
    Mielczarek, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/329751.pdf
    Data publikacji:
    2018
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    robot manipulator
    repeatable inverse kinematics
    initial configuration
    manipulator robotyczny
    kinematyka odwrotna
    konfiguracja początkowa
    Opis:
    A repeatable inverse kinematic task in robot manipulators consists in finding a loop (cyclic trajectory) in a configuration space, which corresponds to a given loop in a task space. In the robotic literature, an entry configuration to the trajectory is fixed and given by a user. In this paper the assumption is released and a new, indirect method is introduced to find entry configurations generating short trajectories. The method avoids a computationally expensive evaluation of (infinite) many entry configurations for redundant manipulators (for each of them, repeatable inverse kinematics should be run). Some fast-to-compute functions are proposed to evaluate entry configurations and their correlations with resulting lengths of trajectories are computed. It appears that only an original function, based on characteristics of a manipulability subellipsoid, properly distinguishes entry configurations that generate short trajectories. This function can be used either to choose one from a few possible entry configurations or as an optimized function to compute the best initial configuration.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2018, 28, 3; 483-492
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Approximation of Jacobian inverse kinematics algorithms
    Autorzy:
    Tchoń, K.
    Karpińska, J.
    Janiak, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/929992.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    kinematyka odwrotna
    pseudoodwrotny Jacobian
    aproksymacja
    robot inverse kinematics
    extended Jacobian
    Jacobian pseudoinverse
    approximation
    Opis:
    This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 519-531
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators
    Autorzy:
    Dulęba, I.
    Opałka, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/330786.pdf
    Data publikacji:
    2013
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    serial manipulator
    inverse kinematics
    Jacobian method
    comparison
    applications
    manipulator szeregowy
    kinematyka odwrotna
    metoda Jacobiego
    porównanie
    zastosowania
    Opis:
    The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg–Marquardt method (mLM). Their comparison is based on the evaluation of a short distance approaching the goal point and on their computational complexity. As the reference method, the Jacobian pseudo-inverse is utilized. Simulation results reveal that the modified Levenberg–Marquardt method is promising, while the first order approximation method is reliable and requires mild computational costs. Some hints are formulated concerning the application of Jacobian-based methods in practice.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2013, 23, 2; 373-382
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Suboptimal approximations in repeatable inverse kinematics for robot manipulators
    Autorzy:
    Duleba, I.
    Karcz-Duleba, I.
    Powiązania:
    https://bibliotekanauki.pl/articles/201509.pdf
    Data publikacji:
    2017
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    manipulator
    inverse kinematics
    repeatability
    optimization
    odwrotna kinematyka
    powtarzalność
    optymalizacja
    Opis:
    In this paper a repeatable inverse kinematic task was solved via an approximation of a pseudo-inverse Jacobian matrix of a robot manipulator. An entry configuration to the task was optimized and a task-dependent definition of an approximation region, in a configuration space, was utilized. As a side effect, a relationship between manipulability and optimally augmented forward kinematics was established and independence of approximation task solutions on rotations in augmented components of kinematics was proved. A simulation study was performed on planar pendula manipulators. It was demonstrated that selection of an initial configuration to the repeatable inverse kinematic task heavily impacts solvability of the task and its quality. Some remarks on a formulation of the approximation task and its numerical aspects were also provided.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 2; 209-217
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Forward and inverse kinematics solution of a robotic manipulator using a multilayer feedforward neural network
    Autorzy:
    Sharkawy, Abdel-Nasser
    Powiązania:
    https://bibliotekanauki.pl/articles/2201647.pdf
    Data publikacji:
    2022
    Wydawca:
    Politechnika Koszalińska. Wydawnictwo Uczelniane
    Tematy:
    multilayer neural network
    feedforward neural network
    forward kinematics
    inverse kinematics
    2-DOF planar robot
    Levenberg-Marquardt algorithm
    generated data
    sieci neuronowe
    sieci neuronowe jednokierunkowe
    sieci neuronowe wielowarstwowe
    kinematyka prosta
    kinematyka odwrotna
    algorytm Levenberga-Marquardta
    generowanie danych
    Opis:
    In this paper, a multilayer feedforward neural network (MLFFNN) is proposed for solving the problem of the forward and inverse kinematics of a robotic manipulator. For the forward kinematics solution, two cases are presented. The first case is that one MLFFNN is designed and trained to find solely the position of the robot end-effector. In the second case, another MLFFNN is designed and trained to find both the position and the orientation of the robot end-effector. Both MLFFNNs are designed considering the joints’ positions as the inputs. For the inverse kinematics solution, a MLFFNN is designed and trained to find the joints’ positions considering the position and the orientation of the robot end-effector as the inputs. For training any of the proposed MLFFNNs, data is generated in MATLAB using two different cases. The first case is that data is generated assuming an incremental motion of the robot’s joints, whereas the second case is that data is obtained with a real robot considering a sinusoidal joint motion. The MLFFNN training is executed using the Levenberg-Marquardt algorithm. This method is designed to be used and generalized to any DOF manipulator, particularly more complex robots such as 6-DOF and 7-DOF robots. However, for simplicity, this is applied in this paper using a 2-DOF planar robot. The results show that the approximation error between the desired output and the estimated one by the MLFFNN is very low and it is approximately equal to zero. In other words, the MLFFNN is efficient enough to solve the problem of the forward and inverse kinematics, regardless of the joint motion type.
    Źródło:
    Journal of Mechanical and Energy Engineering; 2022, 6, 2; 1--17
    2544-0780
    2544-1671
    Pojawia się w:
    Journal of Mechanical and Energy Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-8 z 8

      Ta witryna wykorzystuje pliki cookies do przechowywania informacji na Twoim komputerze. Pliki cookies stosujemy w celu świadczenia usług na najwyższym poziomie, w tym w sposób dostosowany do indywidualnych potrzeb. Korzystanie z witryny bez zmiany ustawień dotyczących cookies oznacza, że będą one zamieszczane w Twoim komputerze. W każdym momencie możesz dokonać zmiany ustawień dotyczących cookies