Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling ...

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...

This work is devoted to the presentation of a Wireless Sensor System implementation for upper limb rehabilitation function as complementary system patient’s progress supervision during exercises. A cost effective motion capture sensor node composed by 9 Degrees-of-Freedom (DoF) Inertial Measurement Unit (IMU) mounted on segments and sends wirelessly corresponding measured signals base station. ...

—A realistic biomechanical model of the thumb would enhance our understanding of the functional consequences of orthopedic and neurological diseases, and of treatments. Our work has shown that a kinematic description with five orthogonal and intersecting axes of rotation cannot predict realistic thumbtip forces. An alternative kinematic description proposes five axes of rotation that need not b...

A closed 6R linkage is generically rigid. In this paper we give, for the first time, equational conditions on the Denavit/Hartenberg parameters that are necessary for mobility. The conditions suggest to distinguish the movable 6R linkages into various types characterized by their bond diagrams.

Construction vehicle automation for high accuracy applications require information about the state of machine, resulting in a fully sensitized system with precise kinematic parameters. Since measurement these parameters contains uncertainties, accurate them is an expensive task. Automatic calibration link makes task parameter determination easier. This study reports method forward chain estimat...

We consider association schemes with d classes and the underlying BoseMesner algebra, A . Then, by taking into account the relationship between the Hadamard and the Kronecker products of matrices and making use of some matrix techniques over the idempotents of the unique basis of minimal orthogonal idempotents of A , we prove some results over the Krein parameters of an association scheme.

The current three-axes Satcom-on-the-Move(SOTM) antenna modeling method has some shortcomings, such as low model accuracy, poor portability and so on. In order to solve the above-mentioned a new modified Denavit-Hartenberg(NMDH) kinematics scheme for SOTM was proposed. To overcome difficulties caused by inherent mechanical structure of antenna, meet requirements Denavit-Hartenberg(MDH) method, ...