scholarly journals Inverse Kinematics Algorithm for a Six-Link Manipulator Using an Improved Polynomial Expression

1988 ◽  
Vol 24 (2) ◽  
pp. 204-206 ◽  
Author(s):  
Shinobu SASAKI
Keyword(s):  
Inverse Kinematics ◽  
Polynomial Expression

Development and evaluation of trans-Amadi groundwater parameters: The integration of finite element techniques

2019 ◽  
Author(s):  
Chem Int
Keyword(s):  
Finite Element ◽  
Polynomial Regression ◽  
Nitrate Concentration ◽  
Strong Relationship ◽  
Total Iron ◽  
Coefficient Of Determination ◽  
Port Harcourt ◽  
Polynomial Expression ◽  
The Relationship ◽  
Best Fit

Mathematical model was developed and evaluated to monitor and predict the groundwater characteristics of Trans-amadi region in Port Harcourt City. In this research three major components were considered such as chloride, total iron and nitrate concentration as well as the polynomial expression on the behavious on the concentration of each component was determined in terms of the equation of the best fit as well as the square root of the curve. The relationship between nitrate and distance traveled by Nitrate concentration by the model is given as Pc = 0.003x2 - 0.451x + 14.91with coefficient of determination, R² = 0.947, Chloride given as Pc = 0.000x2 - 0.071x + 2.343, R² = 0.951while that of Total Iron is given as Pc = 2E-05x2 - 0.003x + 0.110, R² = 0.930. All these show a strong relationship as established by Polynomial Regression Model. The finite element techniques are found useful in monitoring, predicting and simulating groundwater characteristics of Trans-amadi as well as the prediction on the variation on the parameters of groundwater with variation in time.

scholarly journals Stability of the Tracking Problem with Task-Priority Inverse Kinematics

2018 ◽  
Vol 51 (22) ◽  
pp. 121-125 ◽  
Author(s):  
Mathias Hauan Arbo ◽  
Jan Tommy Gravdahl
Keyword(s):  
Inverse Kinematics ◽  
Tracking Problem ◽  
Task Priority

scholarly journals A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints

2020 ◽  
Author(s):  
Stefano Dalla Gasperina ◽  
Keya Ghonasgi ◽  
Ana C. de Oliveira ◽  
Marta Gandolla ◽  
Alessandra Pedrocchi ◽  
...  
Keyword(s):  
Upper Limb ◽  
Inverse Kinematics ◽  
Joint Coordination ◽  
Upper Limb Exoskeleton

scholarly journals Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications

2021 ◽  
Vol 11 (6) ◽  
pp. 2558
Author(s):  
Mario Troise ◽  
Matteo Gaidano ◽  
Pierpaolo Palmieri ◽  
Stefano Mauro
Keyword(s):  
Preliminary Analysis ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Dynamic Models ◽  
Robotic Systems ◽  
Inflation Pressure ◽  
Space Applications ◽  
Space Industry ◽  
Rigid Body Model ◽  
Soft Manipulator

The rising interest in soft robotics, combined to the increasing applications in the space industry, leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package to be deployed when required. The main challenges for soft robotic systems are the low force exertion and the control complexity. In this manuscript, a soft manipulator concept, having inflatable links, is introduced to face these issues. A prototype of the inflatable link is manufactured and statically characterized using a pseudo-rigid body model on varying inflation pressure. Moreover, the full robot model and algorithms for the load and pose estimation are presented. Finally, a control strategy, using inverse kinematics and an elastostatic approach, is developed. Experimental results provide input data for the control algorithm, and its validity domain is discussed on the basis of a simulation model. This preliminary analysis puts the basis of future advancements in building the robot prototype and developing dynamic models and robust control.

scholarly journals Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097634
Author(s):  
Huan Tran Thien ◽  
Cao Van Kien ◽  
Ho Pham Huy Anh
Keyword(s):  
Inverse Kinematics ◽  
Biped Robot ◽  
Step Length ◽  
Jaya Algorithm ◽  
Kinetic Chain ◽  
Biped Walking ◽  
Gait Planning ◽  
Multi Objective ◽  
Simulation And Experiment ◽  
Stable Gait

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

Cervical spine intervertebral kinematics estimated from inverse kinematics and compared to dynamic X-ray data

2020 ◽  
Vol 81 ◽  
pp. 36-37
Author(s):  
H. Barnamehei ◽  
Y. Zhou ◽  
X. Zhang ◽  
A. Vasavada
Keyword(s):  
Cervical Spine ◽  
Inverse Kinematics ◽  
X Ray
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