The increasing use of robot simulation systems has raised the need for a full kinematic treatment for a large number of diierent types of robots. Usually this is done either by supplying a general iterative inverse procedure , a time-consuming method not guaranteed to converge, or by carrying out a special analysis for each type. In this paper we present a software system whose input is an elem...

The paper presents the configuring of a virtual prototype BiSCARA robot generated on basis fully developed kinematic model robot. CAD in this way will enable its implementation Python graphical environment as an integral part open architecture control system presented model. included solving inverse and direct problem, determining Jacobian matrix workspace analysis. Verification model, i.e. con...

the momentum equation in the kinematic wave model is a power-law equation with two parameters. these parameters, which relate the discharge to the flow area, are commonly derived using manning’s equation. in general, the values of these parameters depend on the flow depth except for some special cross sections. in this paper, improved estimates of the kinematic wave parameters for circular chan...

Constitutive modeling of material behaviour is becoming increasingly important in prediction of possible failures in highly loaded engineering components, and consequently, optimization of their design. Damage occurrence and accumulation within the material are described in this paper by means of models of kinematic and isotropic hardening according to Chaboche material model. Since the materia...

There is neurophysiological evidence that our ability to interpret human pose and action from 2D visual imagery (binocular or monocular) engages the circuitry of the motor cortices as well as the visual areas of the brain. This implies that the capability of the motor cortices to solve inverse kinematics is flexible enough to apply to both motion planning as well as serving as a generative mode...

The aim of the paper is to study kinematics manipulator. articulated robot with a spherical wrist has been used for this purpose. Comau NM45 Manipulator chosen kinematic model study. manipulator contains six revolution joints. Pieper’s approach employed (inverse) Using approach, inverse problem divided into two small less complex problems. This reduces time analysing kinematically. forward and ...

The paper deals with the integral equation approach to steady kinematic dynamo models in finite domains based on Biot-Savart’s law. The role of the electric potential at the boundary is worked out explicitly. As an example, a modified version of the simple spherical α-effect dynamo model proposed by Krause and Steenbeck is considered in which the α-coefficient is no longer constant but may vary...

This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position ...

A study of the kinematic characteristics for the five degree-of-freedom (DOF) spatial parallel micromanipulator is presented. The objective of this work is to introduce for the first time a structural and geometrical model of a novel five degree-of-freedom spatial parallel micromanipulator, the analysis of the effective and useful workspace of the micromechanism, present the obtained analytical...