Over the course of several years, an informal poll by Dave Forsey of commercial animators revealed that the single most useful tool to add to a computer animation system would be a way to control the simple act of pressing one object into another. This ability would drastically increase the range and style of animations that could be created within a production environment. This thesis presents...

Compliant mechanisms are widely used for instrumentation and measuring devices their precision high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating inverse direct kinematics, dynamic problem dynamics actuators control. The kinematic solved, assuming pseudo-rigid deflection in revolute spherical joints. using Principle Energy Equ...

The method proposed here produces trajectories of articulatory movements based on a kinematic triphone model and the mimimum-jerk model. The kinematic triphone model, which is constructed from articulatory data obtained in the experiments through the use of a magnetic sensor system, is characterized by three kinematic features for a triphone and intervals between two successive phonemes in the ...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

Kinematic position analysis is the first step in creating a complete mathematical model of the new manipulator architecture. This analysis will begin by developing a general descriptive model that characterizes the kinematic geometry of the device. From this geometric model, a mathematical function relating the input-to-output position parameters will be formed. The goal of this function is to ...

This study discusses kinematic and dynamic precession models for a rolling ball with a finite contact area and a point contact respectively. In literature, both conventions have been applied. In this paper, we discuss in detail the kinematic and dynamic models to describe the ball precession and the radius of a circular rolling path. The kinematic model can be used if the contact area and frict...

This paper discwwes th,e dynamics computation, oj strw tu,re ml-yang kin, em,dic chains which, amply m,ech,an,icd link systems wh,ose strudwe may ch,ange from open kinematic chain, to C1O,IA one o,n.d vice I) e rs 0,. The proposed dgorith,rn, can, h,an,dle strwiure chtanges in, o, seo,m,kss manm,er u)ith,out MA ch,an,g among rdgorathm,s for dij%ren.t kinematic ch,ain.s. The ,$tr?!,ct?~.re-?)fl....

Computer animation of articulated gures can be tedious largely due to the amount of data which must be speci ed at each frame Animation techniques range from simple interpolation between keyframed gure poses to higher level algorithmic models of speci c movement patterns The former provides the animator with complete control over the movement whereas the latter may provide only limited control ...

Deeply Virtual Compton Scattering is the simplest interaction that allows access to Generalised Parton Distributions (GPDs), a theoretical framework that can be used to describe nucleon structure. The strong interest in GPDs results from the fact that they offer access to the total angular momentum of quarks inside the nucleon and to a 3-dimensional picture of nucleon structure. The measurement...

This paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms. The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism. The estimation of the kinematic parameters is performed using the inverse calibration method. The identification poses are selected optimizing the observab...