This paper provides an estimation model for calibrating the kinematics of manipulators with a parallel geometrical structure. Parameter estimation for serial link manipulators is well developed, but fail for most structures with parallel actuators, since the forward kinematics is usually not analytically available for these. We extend parameter estimation to such parallel structures by developi...

A control model of a designed mechanical model of the hand using Screw theory is presented. Forward and inverse kinematics of a finger, which is an open-chain manipulator with four degrees of freedom (DoF), is discussed. Forward kinematics are solved using the transformations in form of exponential of twist between the adjacent link frames to obtain the configuration of the fingertip frame T re...

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment of which scooping buckets are attached around a rotating disk, kinematic redundancy occurs in aktermining joint variables. Link coordinates are introduced following the Denavit-Hatenberg representation. For a given excavation...

Kinematics pertains to the motion of bodies in a robotic mechanism without regard to the forces/torques that cause the motion. Since robotic mechanisms are by their very essence designed for motion, kinematics is the most fundamental aspect of robot design, analysis, control, and simulation. The robotics community has focused on efficiently applying different representations of position and ori...

We propose a novel methodology for predicting human gait pattern kinematics based on a statistical and stochastic approach using a method called Gaussian process regression (GPR). We selected 14 body parameters that significantly affect the gait pattern and 14 joint motions that represent gait kinematics. The body parameter and gait kinematics data were recorded from 113 subjects by anthropomet...

Inverse kinematics solutions of a reconfigurabie robot system built upon a collection of standardized components is dificult to obtain because of its varying configuration. This paper addresses the formulation of a generic numerical inverse kinematics model and automatic generation of the model for arbitrary robot geometry including serial type and branching type geometry. Both revolute and pri...

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...

The aim of the present study was to analyze the net joint moment distribution, joint forces and kinematics during cycling to exhaustion. Right pedal forces and lower limb kinematics of ten cyclists were measured throughout a fatigue cycling test at 100% of PO(MAX). The absolute net joint moments, resultant force and kinematics were calculated for the hip, knee and ankle joint through inverse dy...

objectives: although for those spinal cord injury (sci) patients with paralysis of the legs but not at arms, the primary means of mobility post injury is the manual wheelchair, there are many physiological and psychological advantages to standing and walking, such as improvement in respiratory function, lower limb weight bearing and preventing osteoporosis, pressure sores prevention etc. high m...