检索结果-内蒙古大学图书馆

13th International-Federation-of-Automatic-Control (IFAC) Workshop on Intelligent Manufacturing Systems (IMS)

作者： Alebooyeh, Morteza Urbanic, R. Jill Univ Windsor Dept Mech Automot & Mat Engn Windsor ON N9B 3P4 Canada

This research investigates development of a visual and analytical tool for the study of the seven degree of freedom (7-DOF) ABB 14000 YuMi robot. It provides an understanding of the manipulator workspace regions where they are visually represented for insight into the true work window. The developed tool is capable of realizing forward and inverse kinematics as well. The task is achieved using artificial neural networks that predict an inverse kinematic solution within an acceptable confidence interval (90th-95th percentile). Mathematical models, including all kinematic models i.e. the physical structure of manipulator joints and links, are developed and visually represented in the MATLAB platform by using the neural network toolbox. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Collaborative robots simulation neural network workspace forward and inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning

引用

SENSORS 2025年第2期25卷 514页

作者： Yuan, Fengwei Ren, Gengzhen Deng, Qian Wang, Xiangjiang Univ South China Coll Resource Environm & Safety Engn Hengyang 421001 Peoples R China Univ South China Coll Mech Engn Hengyang 421001 Peoples R China Univ South China Hunan Prov Key Lab Emergency Safety Technol & Equi Hengyang 421001 Peoples R China

To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present study that includes a collaborative robotic arm coupled with a servo electric cylinder. By establishing a joint coordinate system for the robot model, a D-H parameter model for the plate plugging robot was established, and the forward and inverse kinematics were solved. The volume level approximate convex decomposition algorithm was used to fit the steam generator model with a convex packet, and an experimental simulation platform was constructed. Lastly, path planning was carried out by using the RRT algorithm, with the paths divided into three phases for analysis. The simulation results show that the path in the first stage is relatively smooth, and the parameter changes in each joint are relatively stable. The path in the second stage exhibits zigzagging, with the parameter change curve of joint 9 being particularly evident, and the path in the third stage still exhibits zigzagging-the parameter change curves of joints 3 and 10 are particularly evident. The results of the present study show that, although the paths show a certain degree of zigzagging in complex environments, the plate plugging robot is still able to automatically complete the plate plugging task while avoiding obstacles, which greatly reduces the risk posed to the operator when exposed to a high-radiation environment, in addition to having certain research and application value.

关键词： steam generator ten degrees of freedom plate plugging robot forward and inverse kinematics path planning

来源：评论

学校读者我要写书评

暂无评论

Modelling motion: Tracking, analysis and inverse kinematics 2

引用

2nd International Workshop on Algebraic Frames for the Perception-Action Cycle

作者： Lasenby, J Gamage, S Ringer, M Univ Cambridge Dept Engn Cambridge CB2 1PZ England

ISBN: (纸本)3540410139

In this paper we will use the mathematical framework of geometric algebra (GA) to illustrate the construction of articulated motion models. The advantages of solving the forward kinematics of a given problem in this way are that the equations can be constructed in a coordinate-free fashion using the GA representations of rotation, rotors. One can then use the rotor parameters as our variables in a tracking scheme where we use Kalman filters to track real motion data from moving subjects - this has various advantages over the standard Euler angle approach. The paper then looks at the advantages of this system for solving the inverse kinematics - estimating the model given the positions/observations. It will be shown that the often complicated inversion procedures can be simplified by a combination of incidence geometry and rotor inversion.

关键词： rotations geometric algebra articulated motion motion estimation motion modelling tracking Kalman filters forward and inverse kinematics conformal geometry

来源：评论

学校读者我要写书评

暂无评论

inverse kinematics of mobile manipulators based on differential evolution

引用

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2018年第1期15卷

作者： Lopez-Franco, Carlos Hernandez-Barragan, Jesus Alanis, Alma Y. Arana-Daniel, Nancy Lopez-Franco, Michel Univ Guadalajara CUCEI Dept Comp Sci Marcelino Garci Barragan 1421 Guadalajara 44100 Jalisco Mexico

The solution of the inverse kinematics of mobile manipulators is a fundamental capability to solve problems such as path planning, visual-guided motion, object grasping, and so on. In this article, we present a metaheuristic approach to solve the inverse kinematic problem of mobile manipulators. In this approach, we represent the robot kinematics using the Denavit-Hartenberg model. The algorithm is able to solve the inverse kinematic problem taking into account the mobile platform. The proposed approach is able to avoid singularities configurations, since it does not require the inversion of a Jacobian matrix. Those are two of the main drawbacks to solve inverse kinematics through traditional approaches. Applicability of the proposed approach is illustrated using simulation results as well as experimental ones using an omnidirectional mobile manipulator.

关键词： forward and inverse kinematics metaheuristic algorithms path tracking mobile manipulators mobile robotics

来源：评论

学校读者我要写书评

暂无评论

Optimal trajectory planning for wheeled mobile robots based on kinematics singularity

引用

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2008年第2期53卷 145-168页

作者： Gracia, Luis Tornero, Josep Univ Politecn Valencia Dept Syst Engn & Control Valencia Spain

This research introduces a new optimality criterion for motion planning of wheeled mobile robots based on a cost index that assesses the nearness to singularity of forward and inverse kinematic models. Slip motions, infinite estimation error and impossible control actions are avoided escaping from singularities. In addition, high amplification of wheel velocity errors and high wheel velocity values are also avoided by moving far from the singularity. The proposed cost index can be used directly to complement path-planning and motion-planning techniques (e.g. tree graphs, roadmaps, etc.) in order to select the optimal collision-free path or trajectory among several possible solutions. To illustrate the applications of the proposed approach, an industrial forklift, equivalent to a tricycle-like mobile robot, is considered in a simulated environment. In particular, several results are validated for the proposed optimality criterion, which are extensively compared to those obtained with other classical optimality criteria, such as shortest-path, time-optimal and minimum-energy.

关键词： cost index forward and inverse kinematics kinematic model

来源：评论

学校读者我要写书评

暂无评论

Investigation of Correction Trajectory Considering Bone End-Plane Orientation and the Shortest Growth Path

引用

JOURNAL OF BIOMECHANICAL ENGINEERING-TRANSACTIONS OF THE ASME 2020年第10期142卷 101003页

作者： Li, Jianfeng Li, Guotong Hu, Xiaojie Dong, Mingjie Tao, Chunjing Ji, Run Chen, Ying Beijing Univ Technol Coll Mech Engn & Appl Elect Technol 100 Pingleyuan Beijing 100124 Peoples R China Natl Res Ctr Rehabil Tech Aids 1 Ronghua Middle Rd Beijing 100176 Peoples R China

External fixators are widely used in orthopedics for the purposes of fracture reduction and bone deformity correction. Since there is nonlinear mapping between the joint and operation spaces of the external fixator, bone correction trajectories achieved by equally adjusting the length of the struts in the joint space are usually not the trajectories that clinicians expect. Based on two different adjustment strategies, a new strategy considering bone end-plane orientation and the shortest growth path is proposed to plan the position and orientation of the distal bone end, which is named joint adjustment for equal bone distraction. By proposing the inverse and forward kinematic solutions of an Ortho-SUV external fixator, correction trajectories with three different adjustment strategies are generated and compared, and the bone shapes for each strategy are modeled. The results obtained by comparative analysis indicate that a smooth and uniformly spaced linear trajectory can be acquired using the new adjustment strategy, which can avoid bone end interference and maintain an optimal distraction rate of 1.03mm/day, with only a 3% error compared with 1mm/day. The new strategy can perform multiplane corrections simultaneously and is beneficial for stimulating the growth of new bone tissue.

关键词： correction trajectory adjustment strategy bone shape remodeling the Ortho-SUV frame forward and inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Triflex II: design and analysis of a self-aligning parallel mechanism with asymmetrical kinematic structure

引用

MECCANICA 2017年第11-12期52卷 2991-3002页

作者： Simas, Henrique Simoni, Roberto Martins, Daniel Univ Fed Santa Catarina EMC CTC UFSC Dept Mech Engn Raul Guenther Lab Appl Robot Cx P 476 Trindade BR-88040900 Florianopolis SC Brazil Univ Fed Santa Catarina DEM UFSC Dept Mobil Engn Raul Guenther Lab Appl Robot Rua Dr Joao Colin 2700 BR-89218035 Joinville SC Brazil

This paper presents a novel asymmetric parallel mechanism with three degrees of freedom, with properties of self-aligning called Triflex II. Triflex II is composed of three legs: that connect a moving platform to the base. This paper discusses the properties of asymmetry and self-aligning of the mechanism presenting and discussing the complete analytical mathematical modeling of direct and inverse kinematics of position and velocity, using geometrical approaches. It is presented also a study of singularities and workspace limits. In order to validate the developed kinematic modeling a numerical simulation is presented.

关键词： 3-DOF parallel mechanism Self-aligning Asymmetrical kinematic chain forward and inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Research and experiment on active training of lower limb based on five-bar mechanism of man-machine integration system

引用

ROBOTICA 2024年第5期42卷 1453-1475页

作者： Sun, Jianghong Hu, Fuqing Gao, Keke Gao, Feng Ma, Chao Wang, Junjian Beijing Informat Sci & Technol Univ Sch Mech Elect Engn Beijing Peoples R China Tsinghua Univ Inst Mechatron Engn Beijing Peoples R China Beijing Informat Sci & Technol Univ Key Lab Modern Measurement & Control Technol Minist Educ Beijing Peoples R China China Natl Machine Tool Qual Supervis Testing Ctr Beijing Peoples R China

In view of the fact that the current research on active and passive rehabilitation training of lower limbs is mainly based on the analysis of exoskeleton prototype and the lack of analysis of the actual movement law of limbs, the human-machine coupling dynamic characteristics for active rehabilitation training of lower limbs are studied. In this paper, the forward and inverse kinematics are solved on the basis of innovatively integrating the lower limb and rehabilitation prototype into a human-machine integration system and equivalent to a five-bar mechanism. According to the constraint relationship of hip joint, knee joint and ankle joint, the Lagrange dynamic equation and simulation model of five-bar mechanism under the constraint of human physiological joint motion are constructed, and the simulation problem of closed-loop five-bar mechanism is solved. The joint angle experimental system was built to carry out rehabilitation training experiments to analyze the relationship between lower limb error and height, weight and BMI, and then, a personalized training planning method suitable for people with different lower limb sizes was proposed. The reliability of the method is proved by experiments. Therefore, we can obtain the law of limb movement on the basis of traditional rehabilitation training, appropriately reduce the training speed or reduce the man-machine position distance and reduce the training speed or increase the man-machine distance to reduce the error to obtain the range of motion angle closer to the theory of hip joint and knee joint respectively, so as to achieve better rehabilitation.

关键词： lower limb active training man-machine integration system five-bar mechanism forward and inverse kinematics joint angle experiment

来源：评论

学校读者我要写书评

暂无评论

kinematics and Constraints of the Exechon Robot Accounting Offsets Due to Errors in the Base Joint Axes

引用

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 2020年第2期12卷 021109页

作者： Lopez-Custodio, P. C. Dai, J. S. Fu, R. Jin, Y. Univ London Kings Coll London Ctr Robot Res Kinemat & Mech Grp London WC2R 2LS England Queens Univ Belfast Sch Mech & Aerosp Engn Ctr Intelligent & Autonomous Mfg Syst 123 Stranmillis Rd Belfast BT9 5AH Antrim North Ireland

An Exechon robot with offsets between the axes of the joints that connect the legs to the fixed platform is analyzed for the first time. Ideally these axes intersect constituting two universal and one spherical joints. The introduction of imperfections in these universal and spherical joints leads to more complex forward and inverse kinematics, which are solved in this paper. It is proved that the equations used for the kinematics of the ideal Exechon robot are no longer applicable when these offsets are added. The constraint system is also obtained, and it is found to be different to the one of the ideal case. Finally, the combination of offsets that lead to the largest deviation in the position of the parallel platform is determined.

关键词： parallel manipulators forward and inverse kinematics geometric errors

来源：评论

学校读者我要写书评

暂无评论

Exact interval propagation for the efficient solution of position analysis problems on planar linkages

引用

MECHANISM AND MACHINE THEORY 2012年 54卷 116-131页

作者： Celaya, Enric Creemers, Tom Ros, Lluis Inst Robot & Informat Ind CSIC UPC Barcelona 08028 Spain

This paper presents an interval propagation algorithm for variables in planar single-loop linkages. Given intervals of allowed values for all variables, the algorithm provides, for every variable, the whole set of values, without overestimation, for which the linkage can actually be assembled. We show further how this algorithm can be integrated in a branch-and-prune search scheme, in order to solve the position analysis of general planar multi-loop linkages. Experimental results are included, comparing the method's performance with that of previous techniques given for the same task. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Interval propagation Planar linkages Box approximation Loop equation Position analysis forward and inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：