The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used...

objectives: the aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how total knee replacement (tkr) alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. methods: two-dimensional kinematic gait pattern of 10 participants were collected before and after the tkr surgery, using a ...

The TwinCAT Supplement ‘TwinCAT Kinematic Transformation’ is presented in this application example. This supplement makes it possible to compute robot kinematics together with the PLC and Motion Control on one PC-based CPU. Analogous to the TwinCAT Motion Control package (integration of the drive control in the controller), a robot kinematics is configured and parameterised with the ‘Kinematic ...

This paper introduced design analysis of a new 5DOF surgical robot used for minimally invasive surgery. The kinematics modeling is studied by solving the forward and inverse kinematics of the robot using the Denavit-Hartenberg convention and geometrical method. Robot kinematics simulation is built by creating the 3D CAD model of the robot and patient, then a kinematic motion simulation of a sur...

 We consider a generalization of the classical quadratic assignment problem, where coordinates of locations are uncertain and only upper and lower bounds are known for each coordinate. We develop a mixed integer linear programming model as a robust counterpart of the proposed uncertain model. A key challenge is that, since the uncertain model involves nonlinear objective function of the ...

This work investigates the position regulation in Cartesian space of a class inextensible soft continuum manipulators with pneumatic actuation subject to model uncertainties and unknown external disturbances that act on tip. Soft are characterised by high structural compliance which results large number degrees-of-freedom, only subset can be actuated independently or instrumented sensors. Exter...