This paper gives closed-form solutions (requiring linear and quadratic equations only) for the forward displacement and velocity kinematics of two parallel kinematic chain designs presented by Hunt and Primrose in 1993, 4]. The solutions rely on a simple geometric algorithm that nds the top of a tetrahedron if the base triangle and the lengths of all of its sides are known. The forward kinemati...

Unlike the inverse kinematics problem of n-tendon continuum robots, forward lacks a closed-form analytical solution. In this paper, novel algorithm for single-segment flexible robots is developed that can determine resulting beam configuration any given set actuator displacements. The determines key parameters all possible n- to 1-tendon combinations and examines them against evaluation criteri...

This letter presents a new numerical method to solve the forward kinematics (FK) of parallel manipulator with three-limb spherical-prismatic-revolute (3SPR) structure. Unlike existing approaches that require manipulator’s Jacobian matrix and its inverse at each iteration, proposed algorithm requires much less complex computations estimate FK parameters. A cost function is introduced measures di...

To advancement in security applications, for the first time, a bio-chaotic key generated from emerging biometric trait “finger knuckle print (FKP)” has been proposed data and authentication. In system, feasibility to generate multiple keys single FKP image exploited secure information, which results significant enhancement of strength. The encryption decryption processes keep user-specificity p...

Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution f...

Recently, fast and practical inverse kinematics (IK) methods for complicated human models have gained considerable interest owing to the spread of convenient motion-capture or human-augmentation technologies. Although IK algorithms developed in robotics can also be applied humans, they experience computational speed issues, especially real-time applications. This paper presents a new algorithm ...

Due to continuously increasing demands in the area of advanced robot control, it became necessary to speed up the computation. One way to reduce the computation time is to distribute the computation onto several processing units. In this survey we present different approaches to parallel computation of robot kinematics and Jacobian. Thereby, we discuss both the forward and the reverse problem. ...

CHARLES A. THIGPEN: Effects Of Forward Head And Rounded Shoulder Posture On Scapular Kinematics, Muscle Activity, And Shoulder Coordination (Under the direction of Dr. Darin A. Padua) Forward head and rounded shoulder posture (FHRSP) has been identified as a potential risk factor for the development of shoulder pain. The mechanism through which forward head and rounded shoulder can facilitate s...

We propose two compression methods for the human motion in 3D space, based on the forward and inverse kinematics. In a motion chain, a movement of each joint is represented by a series of vector signals in 3D space. In general, specific types of joints such as end effectors often require higher precision than other general types of joints in, for example, CG animation and robot manipulation. Th...