Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which first in two-part tutorial, we provide an introduction to modelling using elementary transform sequence (ETS). Then formulate first-order differential kinematics, leads Jacobian, basis for velocity control and inverse kinematics. We describe essential c...

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

Analyzing the inverse kinematics theory and its solution method for 5R series manipulator, introducing the establishment of link coordinate system and D_H parameters for 5R series manipulator, studying the algorithm of inverse kinematics solutions based on FPGA controller for 5R manipulator, the system constructs the SOPC system architecture that is based on the Nios II CPU, uses the C program ...

BACKGROUND Circuit resistance training (CRT) should promote favorable kinematics (scapular posterior tilt, upward rotation, glenohumeral or scapular external rotation) to protect the shoulder from mechanical impingement following paraplegia. Understanding kinematics during CRT may provide a biomechanical rationale for exercise positions and exercise selection promoting healthy shoulders. OBJE...

objectives: skeletal-muscular disorders affect the biomechanics of the human body, especially the lower extremity, with a negative effect on the biomechanics of exercise. the main aim of this study was to evaluate the effect of fatigue on the kinematic variables of knee joints during countermovement jumps in female students of physical education with valgus knee deformity.  methods: fifteen sub...

We carry out fluid-structure interaction simulations of self-propelled virtual swimmers to investigate the effects of body shape (form) and kinematics on the hydrodynamics of undulatory swimming. To separate the effects of form and kinematics, we employ four different virtual swimmers: a carangiform swimmer (i.e. a mackerel swimming like mackerel do in nature); an anguilliform swimmer (i.e. a l...

We present a normal form approach to solving the singular inverse kinematic problem for non-redundant robot kinematics. A standing assumption is made that singular configurations of the kinematics have corank 1 and that the kinematics are equivalent to the quadratic normal form. The approach has been illustrated with a simulation case study of 2R kinematics. A comparison with the Singularity-Ro...

Three studies were conducted to examine the relation of spatial visualization to solving kinematics problems that involved either predicting the two-dimensional motion of an object, translating from one frame of reference to another, or interpreting kinematics graphs. In Study 1, 60 physics-naíve students were administered kinematics problems and spatial visualization ability tests. In Study 2,...

The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from th...