نتایج جستجو برای: inverse kinematic model ikm
تعداد نتایج: 2190544 فیلتر نتایج به سال:
This paper deals with the kinematic synthesis of manipulator. A new method based on distributed solving is used to determine the dimensional parameters of a general manipulator which is able to reach a set of given tasks speciied by orientation and position. First, a general Distributed Solving Method (DSM) is presented in three steps : the problem statement, the objective functions formulation...
In this paper we attempt to analyze and simulate the windshield wiper mechanisms, using the multibody systems software ADAMS. The design algorithm involves three mechanical models: kinematic model – to performe the positional analysis of the wiper system, inverse dynamic model – to determine the torque applied to the motor crank in order to generate the kinematically-prescribed behavior, and dy...
The emergence of the theory of dynamic neural computing has made it possible to develop neural learning and adaptive schemes that can be used to obtain feasible solutions to complex control problems, such as inverse kinematic control for robotic systems. In this paper, such a neural learning scheme using a multilayered dynamic neural network (MDNN) is proposed. The basic dynamic computing eleme...
In this study, a method of artificial neural network applied for the solution of inverse kinematics of 2-link serial chain manipulator. The method is multilayer perceptrons neural network has applied. This unsupervised method learns the functional relationship between input (Cartesian) space and output (joint) space based on a localized adaptation of the mapping, by using the manipulator itself...
Many applications in computer animation portray the motion of a human arm and torso. Often such applications can benefit from a combination of Inverse (IK) and Forward (FK) Kinematics controls to manipulate the arms of the model. The human arm is a kinematic chain with seven degrees of freedom. The previous analytic solution to this kinematic chain gives highly detailed IK controls, but problem...
A large-scale combined legged and wheeled vehicle with anthropomorphic legs is presented. This concept combines the advantages of a walking machine with the stability of a wheeled vehicle. The leg utilises a spherical hip joint, a revolute knee joint and a passively pivoting foot. Due to the size of the system linear hydraulic actuators are used, and thus kinematic loops are created in the mech...
Striving for greater accuracy and greater performance, some machine manufactures are developing parallel structure for the next generation machine. This necessarties that these machines need to be analyzed for the effects of existing singularities inside or boundary of evaluated workspace of indigenously developed 6-DoF SPS (S: Spherical, P: Prismatic) parallel manipulator here in Bhabha atomic...
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