A Methodology for Kinematics and Dynamics Analysis of Robotic Systems Internal Actuation

2007 ◽  
Author(s):  
Ashish D. Deshpande ◽  
Jonathan E. Luntz
Keyword(s):  
Complex Systems ◽  
Human Motion ◽  
Robotic Systems ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Important Class ◽  
Motion Modeling ◽  
Climbing Robots

Robots with internal actuation and un-actuated environmental contacts form an important class of robotic systems that includes walking and climbing robots. Since actuation for motion in these robots is achieved indirectly the design and analysis present interesting challenges. In this paper we extend our previously described method called the P-robot Method and apply it to analyze internally actuated robotic systems. We illustrate our techniques by using a simple example of a ladder resting against a wall. Our techniques determine the conditions under which the ladder holds its position against the wall quasi-statically while satisfying the friction constraints and also determine the effects of ladder dynamics on the constraints. These techniques can be extended to analyze more complex systems such as walking and climbing robots and also to human motion modeling.

scholarly journals Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

2018 ◽  
Vol 8 (3) ◽  
pp. 464 ◽  
Author(s):  
Xin Wang ◽  
Qiuzhi Song ◽  
Xiaoguang Wang ◽  
Pengzhan Liu
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Upper Limb Exoskeleton

Statistics for Digital Human Motion Modeling in Ergonomics

Technometrics ◽  
2007 ◽  
Vol 49 (3) ◽  
pp. 277-290 ◽  
Author(s):  
Julian Faraway ◽  
Matthew P Reed
Keyword(s):  
Human Motion ◽  
Motion Modeling ◽  
Digital Human

Learning Manifolds

2012 ◽  
pp. 374-402
Author(s):  
Diana Mateus ◽  
Christian Wachinger ◽  
Selen Atasoy ◽  
Loren Schwarz ◽  
Nassir Navab
Keyword(s):  
Manifold Learning ◽  
Domain Knowledge ◽  
Dimensional Space ◽  
Human Motion ◽  
Motion Modeling ◽  
Learning Methods ◽  
Data Representations ◽  
Non Linear ◽  
Data Points ◽  
Low Dimensional

Computer aided diagnosis is often confronted with processing and analyzing high dimensional data. One alternative to deal with such data is dimensionality reduction. This chapter focuses on manifold learning methods to create low dimensional data representations adapted to a given application. From pairwise non-linear relations between neighboring data-points, manifold learning algorithms first approximate the low dimensional manifold where data lives with a graph; then, they find a non-linear map to embed this graph into a low dimensional space. Since the explicit pairwise relations and the neighborhood system can be designed according to the application, manifold learning methods are very flexible and allow easy incorporation of domain knowledge. The authors describe different assumptions and design elements that are crucial to building successful low dimensional data representations with manifold learning for a variety of applications. In particular, they discuss examples for visualization, clustering, classification, registration, and human-motion modeling.

scholarly journals Motion and Trajectory Constraints Control Modeling for Flexible Surgical Robotic Systems

Micromachines ◽  
2020 ◽  
Vol 11 (4) ◽  
pp. 386
Author(s):  
Olatunji Mumini Omisore ◽  
Shipeng Han ◽  
Yousef Al-Handarish ◽  
Wenjing Du ◽  
Wenke Duan ◽  
...  
Keyword(s):  
Real Time ◽  
A Priori ◽  
Tumor Resection ◽  
Computational Effort ◽  
Robotic Systems ◽  
Kinematics And Dynamics ◽  
Target Point ◽  
Real Time Control ◽  
Control Models ◽  
Constraints Model

Success of the da Vinci surgical robot in the last decade has motivated the development of flexible access robots to assist clinical experts during single-port interventions of core intrabody organs. Prototypes of flexible robots have been proposed to enhance surgical tasks, such as suturing, tumor resection, and radiosurgery in human abdominal areas; nonetheless, precise constraint control models are still needed for flexible pathway navigation. In this paper, the design of a flexible snake-like robot is presented, along with the constraints model that was proposed for kinematics and dynamics control, motion trajectory planning, and obstacle avoidance during motion. Simulation of the robot and implementation of the proposed control models were done in Matlab. Several points on different circular paths were used for evaluation, and the results obtained show the model had a mean kinematic error of 0.37 ± 0.36 mm with very fast kinematics and dynamics resolution times. Furthermore, the robot’s movement was geometrically and parametrically continuous for three different trajectory cases on a circular pathway. In addition, procedures for dynamic constraint and obstacle collision detection were also proposed and validated. In the latter, a collision-avoidance scheme was kept optimal by keeping a safe distance between the robot’s links and obstacles in the workspace. Analyses of the results showed the control system was optimal in determining the necessary joint angles to reach a given target point, and motion profiles with a smooth trajectory was guaranteed, while collision with obstacles were detected a priori and avoided in close to real-time. Furthermore, the complexity and computational effort of the algorithmic models were negligibly small. Thus, the model can be used to enhance the real-time control of flexible robotic systems.

The Kinematics Simulation and Analysis of the Multilayer Carbon Fiber Loom's Beating-Up Mechanism in ADAMS

2013 ◽  
Vol 846-847 ◽  
pp. 52-55
Author(s):  
Kai Yang ◽  
Jian Cheng Yang ◽  
Jian Feng Qin ◽  
Hua Qing Wang ◽  
Yu Bai ◽  
...  
Keyword(s):  
Carbon Fiber ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Linkage Mechanism ◽  
Solid Models ◽  
Kinematics Simulation ◽  
Weaving Technology ◽  
3D Solid

This article designs a new set of beating-up mechanism for the multilayer angle interlocking construction loom based on the requirements of special material of carbon fiber and weaving technology,and it can battening 30 layers carbon fiber at a beating-up.Through building the 3D solid models for linkage mechanism in SolidWorks, it show that the beating-up mechanism Run smoothly by the kinematics and dynamics analysis of different beating-up rule in ADAMS.

7-DOF Cable-Driven Humanoid Robotic Arm

2011 ◽  
Author(s):  
Jun Ding ◽  
Robert L. Williams
Keyword(s):  
Linear Programming ◽  
Robotic Arm ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Kinematics Analysis ◽  
End Effector ◽  
Motion Range ◽  
Potential Benefits ◽  
Redundant Mechanism ◽  
Joint Limits

The purpose of this paper is to study a 7-DOF humanoid cable-driven robotic arm, implement kinematics and dynamics analysis, present different cable-driven designs and evaluate their merits and drawbacks. Since this is a redundant mechanism, kinematics optimization is used to avoid joint limits, singularities and obstacles. Cable kinematics analysis studies the relationships between cable length and the end-effector pose. This is a design modified from the literature. Several new designs are compared in pseudostatics analysis of the arm and a favorable design is suggested in terms of motion range and the cable tensions. Linear programming is used to optimize cable tensions. Dynamics analysis shows that the energy consumption of a cable-driven arm is much less than that of traditional motor-driven arm. Cable-driven robots have potential benefits but also some limitations.

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