Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators

2017 ◽  
Vol 66 (12) ◽  
pp. 3280-3288 ◽  
Author(s):  
Juho Vihonen ◽  
Jouni Mattila ◽  
Ari Visa
Keyword(s):  
Joint Angle ◽  
Kinematic Model ◽  
Joint Space ◽  
Heavy Duty ◽  
Angle Estimation

Development of a sliding-leg tripod as an add-on device for manufacturing

Robotica ◽  
2001 ◽  
Vol 19 (3) ◽  
pp. 285-294 ◽  
Author(s):  
Fengfeng Xi ◽  
Wanzhi Han ◽  
Marcel Verner ◽  
Andrew Ross
Keyword(s):  
Laser Scanning ◽  
System Analysis ◽  
System Modeling ◽  
Kinematic Model ◽  
Joint Space ◽  
Cnc Machine Tools ◽  
System Control ◽  
System Modelling ◽  
Cnc Machine ◽  
Analysis System

This paper presents the work on developing a sliding-leg tripod as a programmable add-on device for manufacturing. The purpose is to enhance the capabilities of any machine by providing it with a more flexible range of motion. This device can be used as a toolhead for CNC machine tools and robots, or as a work stage for coordinate measuring machines and laser scanning systems. In this paper, system modelling, analysis and control of this device is presented. System modeling includes mobility study, kinematic model and inverse kinematics. System analysis includes workspace analysis, transmission ratio and stiffness analysis. System control includes path planning, joint space control and Cartesian space prediction. It is shown that the proposed device can provide flexibility and dexterity to machines.

scholarly journals Pressure based MRI-compatible muscle fascicle length and joint angle estimation

2020 ◽  
Vol 17 (1) ◽  
Author(s):  
Hyungeun Song ◽  
Erica Israel ◽  
Shriya Srinivasan ◽  
Hugh Herr
Keyword(s):  
Joint Angle ◽  
Fascicle Length ◽  
Angle Estimation ◽  
Muscle Fascicle

Artificial neural network based ankle joint angle estimation using instrumented foot insoles

2019 ◽  
Vol 54 ◽  
pp. 101614 ◽  
Author(s):  
Saaveethya Sivakumar ◽  
Alpha Agape Gopalai ◽  
King Hann Lim ◽  
Darwin Gouwanda
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Ankle Joint ◽  
Joint Angle ◽  
Angle Estimation ◽  
Artificial Neural
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