An inverse dynamics and kinematics of a flexible manipulator is derived in symbolic form based on the recursive Lagrangian assumed mode method. A PC-based program has implemented the algorithm to automatically generate the inverse dynamics and kinematics for an elastic robot in a symbolic form. A case study is given to illustrate how to use this program for inverse dynamic and kinematic generat...

This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system. By deriving the inverse kinematics, one can design the controller such that the desired...

In this paper, the design and the position inverse kinematics analysis of a novel aerial manipulation system are presented. The proposed system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the limitations found in the current quadrotor manipulation system. New inverse kinematic analysis are derived such that quadrotor/joint space ...

This paper presents a new method to generate arm gestures which reproduces the dynamical properties of human movements. We describe a model of synergy, defined as a coordinative structure responsible for the flexible organization of joints over time when performing a movement. We propose a generic method which incorporates this synergy model into a motion controller system based on any iterativ...

A number of inverse problems in wave propagation admit division of the model space into kinematic or propagator variables and dynamic or amplitude (or reeectivity, or source, or...) variables. The dynamic variables have a linear or essentially linear innuence on the simulated data, hence the best t formulations of inverse problems are separable in the sense of nonlinear programming. Mean square...