In this paper, the problem of the kinematics and dynamics of two constructional conceptions of a twowheeled mobile robot is considered. The wheeled mobile robot subjected to nonholonomic constraints moves over the inclined plane. Its trajectory consisting of the straight line and the curvilinear path described by the sinusoidal function is analyzed. The kinematic equations for arbitrarily chose...

Humans have an extremely redundant system for locomotion. To handle the redundancy problem, humans use coordinative structures using conditions of constraint in their joint movements to reduce the number of degrees of freedom, which is called kinematic synergy. This chapter shows some characteristics in the kinematic synergy in human locomotion and shows a locomotion control system for a biped ...

Kinematic conditioning of robot manipulators is the problem where small motions in Cartesian space cause excessive joint velocities. This problem is signi cant in teleoperation. Haptic feedback provides the bi-directional ow of information which allows the operator to control the telerobot interactively. Haptic feedback of kinematic conditioning is proposed as a new approach to achieve better p...

In this report, we present the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-efector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an itemtive pmedure employing Newton-Rap...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

objectives: the aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how total knee replacement (tkr) alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. methods: two-dimensional kinematic gait pattern of 10 participants were collected before and after the tkr surgery, using a ...

Nonlinear behavior of a functionally graded cantilever beam is analyzed under non-uniform hygro-thermal effect. To solve this problem, finite element method is applied within plane solid continua. Total Lagrangian approach is utilized in the nonlinear kinematic relations. Newton-Raphson method with incremental displacement is used in nonlinear solution. Comparison study is performed. Effects of...

In this paper we analyzed the problem of investigating locally the scalar curvature of the two dimensional kinematic surfaces foliated by the homothetic motion of an eight curve in LorentzMinkowski 5-space . We express the scalar curvature of the corresponding two dimensional kinematic surfaces as the quotient of hyperbolic functions { }. From that point, we derive the necessary and sufficient ...

This paper describes a study of whether haptic feedback can be used to represent information that is normally difficult to obtain via visual feedback in telerobotic system. Problems of manipulator kinematic condition such as singularity and joint limit have been well known for a long time. Kinematic condition of the manipulator is difficult to be recognized visually. Poor kinematic condition of...

A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three legged, three degree of freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The invers...