A Bio-Mimetic Joint Motion Planning for Humanoid Fingers: Practical Analysis

2006 ◽  
Author(s):  
Byoung-Ho Kim
Keyword(s):  
Motion Planning ◽  
Joint Motion ◽  
Practical Analysis

Motion Planning of Underwater Vehicle-Manipulator System with Joint Limit

2012 ◽  
Vol 220-223 ◽  
pp. 1767-1771 ◽  
Author(s):  
Ming Jun Zhang ◽  
Sheng Quan Peng ◽  
Zhen Zhong Chu ◽  
Yu Jia Wang
Keyword(s):  
Motion Planning ◽  
Potential Function ◽  
Orientation Angle ◽  
Underwater Vehicle ◽  
Initial Position ◽  
Joint Motion ◽  
Minimum Norm ◽  
Improved Method ◽  
Joint Velocity ◽  
Joint Limit

This paper studies motion planning of underwater vehicle-manipulator system (UVMS) based on weighted minimum norm method with joint limit. In response to the problem that joint motion is limited and cannot give full play to kinematical performance in the range of allowed orientation angle, existed in the traditional weighted minimum norm method for joint limit, an improved method about motion planning is proposed. By means of introducing threshold in the joint potential function to change the initial position where the joint velocity is limited, the method makes that joint is only limited between threshold and boundary when it moves from the middle position to bilateral boundaries. A simulation is carried out to verify the proposed motion planning method.

scholarly journals Optimized joint motion planning for redundant industrial robots

CIRP Annals ◽  
2016 ◽  
Vol 65 (1) ◽  
pp. 451-454 ◽  
Author(s):  
Gábor Erdős ◽  
András Kovács ◽  
József Váncza
Keyword(s):  
Motion Planning ◽  
Industrial Robots ◽  
Joint Motion

scholarly journals Joint Motion Planning of Industrial Robot Based on Modified Cubic Hermite Interpolation with Velocity Constraint

2021 ◽  
Vol 11 (19) ◽  
pp. 8879
Author(s):  
Yasong Pu ◽  
Yaoyao Shi ◽  
Xiaojun Lin ◽  
Wenbin Zhang ◽  
Pan Zhao
Keyword(s):  
Motion Planning ◽  
Hermite Interpolation ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Joint Motion ◽  
Quintic Polynomial ◽  
C2 Continuity ◽  
Planning Methods ◽  
Velocity Constraints ◽  
Point To Point

As for industrial robots’ point-to-point joint motion planning with constrained velocity, cubic polynomial planning has the problem of discontinuous acceleration; quintic polynomial planning requires acceleration to be specified in advance, which will likely cause velocity to fluctuate largely because appropriate acceleration assigned in advance is hardly acquired. Aiming at these problems, a modified cubic Hermite interpolation for joint motion planning was proposed. In the proposed methodology, knots of cubic Hermite interpolation need to be reconfigured according to the initial knots. The formulas for how to build new knots were put forward after derivation. Using the newly-built knots instead of initial knots for cubic Hermite interpolation, joint motion planning was carried out. The purpose was that the joint planning not only satisfied the displacement and velocity constraints at the initial knots but also guaranteed C2 continuity and less velocity fluctuation. A study case was given to verify the rationality and effectiveness of the methodology. Compared with the other two planning methods, it proved that the raised problems can be solved effectively via the proposed methodology, which is beneficial to the working performance and service life of industrial robots.

Clinical Update: Measuring Shoulder Joint Motion

1998 ◽  
Vol 3 (5) ◽  
pp. 4-5
Author(s):  
Christopher R. Brigham
Keyword(s):  
External Rotation ◽  
Joint Motion ◽  
Fourth Edition ◽  
Single Plane ◽  
Reconstructive Procedures ◽  
Results Of Treatment ◽  
Shoulder Disorders ◽  
Shoulder Motion ◽  
Motion Measurements ◽  
Upper Extremity Impairment

Abstract Accurate measurement of shoulder motion is critical in assessing impairment following shoulder disorders. To this end, measuring and recording joint motion are important steps in diagnosing, determining the severity and progression of a disorder, assessing the results of treatment, and evaluating impairment. Shoulder movement usually is composite rather than in a single plane, so isolating single movements is challenging. Universal goniometers with long arms are used to measure shoulder motion, and testing must be performed and recorded consistently. Passive motion may be carried out cautiously by the examiner; two measurements of the same patient by the same examiner should lie within 10° of each other. Shoulder extension and flexion are illustrated. Maximal flexion of the shoulder also includes slight external rotation and abduction, and controlling or eliminating these components during evaluation is challenging. Abduction and adduction are illustrated. Deficits in external rotation may occur in patients who have undergone reconstructive procedures with an anterior approach; deficits in internal rotation may result from issues with shoulder instability. The authors recommend recording the shoulder's range of motion measurements according to the Upper Extremity Impairment Evaluation Record in the AMA Guides to the Evaluation of Permanent Impairment, Fourth Edition.

Extending and evaluating the posture-based model of motion planning

2006 ◽  
Author(s):  
Jonathan Vaughan ◽  
Steven Jax ◽  
David A. Rosenbaum
Keyword(s):  
Motion Planning

Power Projects and Covid-19: A Practical Analysis of the Relevance of Force Majeure Clauses under the Standardised Power Purchase and Implementation Agreements of Uganda

2020 ◽  
Vol 1 (2) ◽  
pp. 189-193
Author(s):  
Aisha Naiga ◽  
Loyola Rwabose Karobwa
Keyword(s):  
Renewable Energy ◽  
Renewable Energy Sources ◽  
Clean Energy ◽  
The State ◽  
Energy Sources ◽  
Policy Goals ◽  
Force Majeure ◽  
Practical Analysis ◽  
Energy Justice

Over 90% of Uganda's power is generated from renewable sources. Standardised Implementation Agreements and Power Purchase Agreements create a long-term relationship between Generating Companies and the state-owned off-taker guaranteed by Government. The COVID-19 pandemic and measures to curb the spread of the virus have triggered the scrutiny and application of force majeure (FM) clauses in these agreements. This article reviews the FM clauses and considers their relevance. The authors submit that FM clauses are a useful commercial tool for achieving energy justice by ensuring the continuity of the project, despite the dire effects of the pandemic. Proposals are made for practical considerations for a post-COVID-19 future which provides the continued pursuit of policy goals of promoting renewable energy sources and increasing access to clean energy, thus accelerating just energy transitions.

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