A control model of a designed mechanical model of the hand using Screw theory is presented. Forward and inverse kinematics of a finger, which is an open-chain manipulator with four degrees of freedom (DoF), is discussed. Forward kinematics are solved using the transformations in form of exponential of twist between the adjacent link frames to obtain the configuration of the fingertip frame T re...

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment of which scooping buckets are attached around a rotating disk, kinematic redundancy occurs in aktermining joint variables. Link coordinates are introduced following the Denavit-Hatenberg representation. For a given excavation...

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...

Biometric authentication is utilized in software engineering applications as a type of recognizable and access control of the particular person using their behavioral characteristics. Several biometric features such as fingerprint, palm veins, recognition, palm, hand geometry, iris recognition, DNA, and so on, used for authenticating the user identities. From the various biometric features, the...

This paper presents a novel combination of local-local information for an efficient finger-knuckle-print (FKP) based recognition system which is robust to scale and rotation. The non-uniform brightness of the FKP due to relatively curvature surface is corrected and texture is enhanced. The local features of the enhanced FKP are extracted using the scale invariant feature transform (SIFT) and th...

The G3-PCX genetic algorithm is compared with hybrid meta-heuristic approaches for solving the forward kinematics problem of the 6-6 general parallel manipulator. The G3-PCX shows improvements in terms of accuracy, response time and reliability. Several experiments confirm solving the given problem in less than 1 second. It also reports all the 16 unique real solutions which are verified by an ...

Anguilliform or eel-like fishes are typically bottom dwellers, some of which are specialized burrowers. Although specializations for burrowing are predicted to affect the kinematics of swimming, it remains unknown to what extent this is actually the case. Here we examine swimming kinematics and efficiency of two burrowing anguilliform species, Pisodonophis boro and Heteroconger hassi, with diff...

the main objective of this paper is to study the euclidean displacement of a 5-dof parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as cartesian coordinates and euler angles. in this paper, study&a...