scholarly journals A Cross-Platform Web3D Monitoring System of the Three-Machine Equipment in a Fully Mechanized Coalface Based on the Skeleton Model and Sensor Data

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Zhengxiong Lu ◽  
Wei Guo ◽  
Shuanfeng Zhao ◽  
Chuanwei Zhang ◽  
Yuan Wang ◽  
...  
Keyword(s):  
Monitoring System ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Sensor Data ◽  
Kinematic Modeling ◽  
Hydraulic Support ◽  
Skeleton Model ◽  
Motion Data ◽  
Mesh Model ◽  
Cross Platform

A fully mechanized coalface is a rugged environment that has poor visibility. The traditional video monitoring system has problems such as a lack of realism, a blurry monitoring effect, and poor reliability. It is an important task to monitor the operations of the three-machine equipment (we will refer to the shearer, hydraulic support, and scraper conveyor as the three-machine equipment) intuitively, accurately, and timely and ensure that it is operating safely. This study proposed a cross-platform Web3D monitoring system for the three-machine equipment. First, the virtual mesh model and skeleton model that was embedded in the mesh model were established according to three-machine ontology and basic motion units. Second, the kinematic model of the three-machine skeleton was established via the inverse kinematic modeling of the hydraulic support and the coordinate calculation of the vertices on the three-machine skeleton. Third, the motion data, which were captured by sensors, were applied to drive the movement of the three-machine skeleton and mesh model. Finally, WebGL, which is the latest Internet graphics standard, was used to render the three-machine models, and the performance of this monitoring system is tested on different equipment in the laboratory. The results of the test show that the three-machine cross-platform monitoring system has splendid performance, and it realizes cross-platform 3D monitoring effectively in the laboratory. In the future, this system will be used as a supervisory tool and be integrated with the traditional monitoring system to monitor the three-machine equipment with the field staff.

scholarly journals Realtime Motion Assessment For Rehabilitation Exercises: Integration Of Kinematic Modeling With Fuzzy Inference

2014 ◽  
Vol 4 (4) ◽  
pp. 267-285 ◽  
Author(s):  
Wenbing Zhao ◽  
Roanna Lun ◽  
Deborah D. Espy ◽  
M. Ann Reinthal
Keyword(s):  
Fuzzy Inference ◽  
Kinematic Model ◽  
Integrated Approach ◽  
Kinematic Modeling ◽  
Motion Data ◽  
Fuzzy Interference System ◽  
Novel Approach ◽  
Motion Assessment ◽  
Rehabilitation Exercises ◽  
Rehabilitation Exercise

Abstract This article describes a novel approach to realtime motion assessment for rehabilitation exercises based on the integration of comprehensive kinematic modeling with fuzzy inference. To facilitate the assessment of all important aspects of a rehabilitation exercise, a kinematic model is developed to capture the essential requirements for static poses, dynamic movements, as well as the invariance that must be observed during an exercise. The kinematic model is expressed in terms of a set of kinematic rules. During the actual execution of a rehabilitation exercise, the similarity between the measured motion data and the model is computed in terms of their distances, which are then used as inputs to a fuzzy interference system to derive the overall quality of the execution. The integrated approach provides both a detailed categorical assessment of the overall execution of the exercise and the degree of adherence to individual kinematic rules.

Grasshopper Knee Joint – Inverse Kinematic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuators

2014 ◽  
Vol 19 ◽  
pp. 1-11 ◽  
Author(s):  
Muhammad Farid ◽  
Zhao Gang ◽  
Tran Linh Khuong ◽  
Zhuang Zhi Sun ◽  
Naveed Ur Rehman
Keyword(s):  
Knee Joint ◽  
Low Voltage ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Ionic Polymer ◽  
Wolfram Mathematica ◽  
Polymer Metal ◽  
Transcendental Functions ◽  
Simulation Results

Biomimetic is the field of engineering in which biological structures and functions are analyzed and are used as the basis for the design and manufacturing of machines. Insects are the most populated creature and present everywhere in the world and can survive the most hostile environmental situations. IPMC is a smart material which has exhibited a significant bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing.In this paper,five different contributions are made. Firstly, a two link grasshopper knee joint physical model is presented in which the actuation force required for moving the knee is provided by the IPMC material. This material constitutes one link of the linkage. Secondly,inverse kinematic modelhas been developed for the linkage. Thirdly, the system of equations is solved by proposing solutions to the known transcendental functions with unknown coefficients. Fourthly, wolfram mathematica is employed for thesimulationof the model. Finally,angles, velocity and accelerationof the links are analyzed based on the simulation results. The simulation results show that the tibia is displaying a lag in time from the femur verifying that it is operated by the force provided by the femur (IPMC). Also, it verified the flexible nature of the IPMC material through multiple peaks and troughs in the graphs. The angles range of the tibia is found quite admirable and it is believed that the IPMC material can add a new horizon to the manufacturing of small biomimetic equipment and low force actuated manipulators.

Kinematic Modeling and Error Analysis for a 3DOF Parallel-Link Coordinate Measuring Machine

2006 ◽  
Vol 532-533 ◽  
pp. 313-316 ◽  
Author(s):  
De Jun Liu ◽  
Hua Qing Liang ◽  
Hong Dong Yin ◽  
Bu Ren Qian
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Inverse Kinematic ◽  
Differential Method ◽  
Error Model ◽  
Structural Parameter ◽  
Kinematic Modeling ◽  
Position Errors ◽  
Measuring Machine ◽  
Parallel Link

First, the forward kinematic model, the inverse kinematic model and the error model of a kind of coordinate measuring machine (CMM) using 3-DOF parallel-link mechanism are established based on the spatial mechanics theory and the total differential method, and the error model is verified by computer simulation. Then, the influence of structural parameter errors on probe position errors is systematically considered. This research provides an essential theoretical basis for increasing the measuring accuracy of the parallel-link coordinate measuring machine. It is of particular importance to develop the prototype of the new measuring equipment.

Nine Degree-of-Freedom Kinematic Modeling of the Upper-Limb Complex for Constrained Workspace Evaluation

2020 ◽  
Vol 143 (2) ◽  
Author(s):  
Brayden DeBoon ◽  
Ryan C. A. Foley ◽  
Scott Nokleby ◽  
Nicholas J. La Delfa ◽  
Carlos Rossa
Keyword(s):  
Upper Limb ◽  
Evaluation Method ◽  
Kinematic Model ◽  
Joint Space ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Kinematic Modeling ◽  
Joint Angles ◽  
Rehabilitative Treatment ◽  
Rehabilitation Devices

Abstract The design of rehabilitation devices for patients experiencing musculoskeletal disorders (MSDs) requires a great deal of attention. This article aims to develop a comprehensive model of the upper-limb complex to guide the design of robotic rehabilitation devices that prioritize patient safety, while targeting effective rehabilitative treatment. A 9 degree-of-freedom kinematic model of the upper-limb complex is derived to assess the workspace of a constrained arm as an evaluation method of such devices. Through a novel differential inverse kinematic method accounting for constraints on all joints1820, the model determines the workspaces in which a patient is able to perform rehabilitative tasks and those regions where the patient needs assistance due to joint range limitations resulting from an MSD. Constraints are imposed on each joint by mapping the joint angles to saturation functions, whose joint-space derivative near the physical limitation angles approaches zero. The model Jacobian is reevaluated based on the nonlinearly mapped joint angles, providing a means of compensating for redundancy while guaranteeing feasible inverse kinematic solutions. The method is validated in three scenarios with different constraints on the elbow and palm orientations. By measuring the lengths of arm segments and the range of motion for each joint, the total workspace of a patient experiencing an upper-limb MSD can be compared to a preinjured state. This method determines the locations in which a rehabilitation device must provide assistance to facilitate movement within reachable space that is limited by any joint restrictions resulting from MSDs.

A Technique for Kinematic Modeling of Anatomical Joints

1980 ◽  
Vol 102 (4) ◽  
pp. 311-317 ◽  
Author(s):  
H. J. Sommer ◽  
N. R. Miller
Keyword(s):  
Kinematic Model ◽  
Nonlinear Least Squares ◽  
Joint Motion ◽  
Kinematic Modeling ◽  
Universal Joint ◽  
General Technique ◽  
Motion Data ◽  
Physiological Loading ◽  
The Right

This paper describes a general technique for fitting a spatial kinematic model to an in-vivo anatomical joint under typical physiological loading conditions. The method employs a nonlinear least squares algorithm to minimize the aggregate deviation between postulated model motion and experimentally measured anatomical joint motion over multiple joint positions. Estimation of the parameters of a universal joint with skew-oblique revolutes to best reproduce wrist motion was used as an example. Experimental motion data from the right wrists of five subjects were analyzed. The technique performed very well and produced repeatable results consistent with previous biomechanical wrist findings.

scholarly journals Kinematics of Serial Manipulators

2020 ◽  
Author(s):  
Ivan Virgala ◽  
Michal Kelemen ◽  
Erik Prada
Keyword(s):  
Rigid Body ◽  
Numerical Solutions ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Body Motion ◽  
Robot Kinematics ◽  
Kinematic Modeling ◽  
Open Chain ◽  
Serial Manipulators ◽  
Serial Robot

This book chapter deals with kinematic modeling of serial robot manipulators (open-chain multibody systems) with focus on forward as well as inverse kinematic model. At first, the chapter describes basic important definitions in the area of manipulators kinematics. Subsequently, the rigid body motion is presented and basic mathematical apparatus is introduced. Based on rigid body conventions, the forward kinematic model is established including one of the most used approaches in robot kinematics, namely the Denavit-Hartenberg convention. The last section of the chapter analyzes inverse kinematic modeling including analytical, geometrical, and numerical solutions. The chapter offers several examples of serial manipulators with its mathematical solution.

scholarly journals SIMULATION AND ANALYZES OF INVERSE-KINEMATIC MODEL OF HUMANOID ROBOT HAND

2019 ◽  
pp. 117-122
Author(s):  
Martin Varga ◽  
Filip Filakovský ◽  
Ivan Virgala
Keyword(s):  
Numerical Modeling ◽  
Humanoid Robot ◽  
Least Squares Method ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Optimization Method ◽  
Inverse Kinematic ◽  
Robot Hand ◽  
Kinematic Modeling

Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. Suitable approach for numerical modeling is important from the view of time consumption as well as stability of computing. Actual scientific researches and issues analysis. Designing and modeling of humanoid robots have high interest in the field of robotics. The hardware and mechanical design of robots is on significantly higher level in comparison with software of robots. So, modeling and control of robots is in the interest of researchers. Uninvestigated parts of general matters defining. Comparison of methods for numerical modeling of inverse kinematics. The research objective. Comparing four methods from the view of performance and stability. The statement of basic materials. This paper investigates the area of kinematic modeling of humanoid robot hand and simulation in MATLAB. Conclusions. The paper investigated inverse kinematic model approaches. There were analyzed pseudoinverse method, transpose of Jacobian method, damped least squares method as an optimization method. The results of the simulations show the advantages of optimization method. During the simulations it never fail in comparison with other tested methods.

A Kinematic Study of Human Torso Motion

2007 ◽  
Author(s):  
Christian Simonidis ◽  
Gu¨nther Stelzner ◽  
Wolfgang Seemann
Keyword(s):  
Kinematic Model ◽  
Shoulder Girdle ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Motion Data ◽  
Multibody Model ◽  
Natural Motion ◽  
Kinematic Study ◽  
Relative Coordinates ◽  
New Formulation

This paper illustrates a kinematic study of human torso motion in order to design and transfer human-like motion on humanoid robots. The realization is done using motion capture data and an optimization based inverse kinematic approach for mapping motion data to skeleton models with the main focus on reproducing realistic torso motion. The kinematic model is based on a multiybody approach using relative coordinates. According to the difficulty of marker based motion reconstruction of human torso movements a detailed multibody model of the spine with a coupling structure between vertebrae based on medical data is introduced. Then, a new formulation describing the kinematic constraints between pelvis and shoulder girdle is presented in order to simplify modeling effort while maintaining natural motion of the torso. Results are compared for key movements with common models. The developed models will be used for design application in the Collaborative Research Center 588 “Humanoid Robots - Learning and Cooperating Multimodal Robots”.

scholarly journals Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 75
Author(s):  
Yunwang Li ◽  
Shirong Ge ◽  
Sumei Dai ◽  
Lala Zhao ◽  
Xucong Yan ◽  
...  
Keyword(s):  
Large Scale ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Combined System ◽  
Wheeled Mobile Robots ◽  
Physical Prototype ◽  
Kinematic Models ◽  
Simulated Motion ◽  
Multiple Robot

In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the kinematic models of single- and multiple-robot combination systems are correct, and the inverse kinematic correction model with velocity compensation matrix is feasible. Through simulations or experiments, the velocity compensation coefficients of the robots can be measured and the velocity compensation matrix can be created. This modified inverse kinematic model can effectively reduce the errors of robot motion caused by wheel slippage and improve the motion accuracy of the mobile robot system.

On redundancy resolution of the human thumb, index and middle fingers in cooperative object translation

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 1992-2017 ◽  
Author(s):  
Felix Orlando Maria Joseph ◽  
Laxmidhar Behera ◽  
Tomoya Tamei ◽  
Tomohiro Shibata ◽  
Ashish Dutta ◽  
...  
Keyword(s):  
Kinematic Model ◽  
Inverse Kinematic ◽  
Small Object ◽  
Redundancy Resolution ◽  
Joint Angles ◽  
Motion Data ◽  
Grasping And Manipulation ◽  
Finger Motion ◽  
And Control ◽  
Neuromuscular Coordination

SUMMARYRedundancy in motion, and synergy in neuromuscular coordination provides significant versatility to the human fingers while performing coordinated grasping and manipulation tasks in several ways. This paper explores how humans may resolve the redundancy in their thumb, index and middle fingers when these digits flex to cooperatively translate a small object toward the palm. It is observed that humans actively employ a secondary subtask of maximizing instantaneous manipulability that helps determine all intermediate finger configurations when performing the primary subtask of following a tip trajectory. This behavior is accurately captured by an inverse kinematic model based on aredundancyparameter. The joint angles get determined unambiguously though the redundancy parameter is shown to depend on the instantaneous finger configurations and also, to attain negative values. Further, this parameter is noted to vary significantly across subjects performing the same kinematic task. The findings, that are based on the experimental finger motion data garnered from 12 subjects, are reckoned to be of significant importance, especially in reference to the challenges in design and control of finger exoskeletons for cooperative manipulation.

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