Kinematic Analysis of Humanoid Based on Screw Theory

2012 ◽  
Vol 424-425 ◽  
pp. 865-870
Author(s):  
Xiao Rong Wang ◽  
Zhao Qin Wang
Keyword(s):  
Mathematical Modeling ◽  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Center Of Mass ◽  
Complex Model ◽  
The Common

It is more difficult and sophisticated to analyze the humanoid kinematics than the common industrial serial manipulator’s because of its high number of DOF, complex model, and balance constraints. Taking the advantages of the characteristics in the configuration of leg’s joints of humanoid, based on the screw theory, according to the trajectory planning of the center of mass and the feet, a method is proposed to solve the kinematics of humanoid’s legs using Paden-Kahan sub-problems approach. The solving process indicates that the mathematical modeling is of simpleness and briefness, while it is of convenience to solve the inverse kinematics

Trajectory planning for coordinately operating robots

1990 ◽  
Vol 4 (3) ◽  
pp. 165-177 ◽  
Author(s):  
Y. P. Chien ◽  
Qing Xue
Keyword(s):  
Trajectory Planning ◽  
Three Dimensional ◽  
Initial Position ◽  
Minimum Time ◽  
Future Research ◽  
Rigid Object ◽  
Redundant Robots ◽  
Planning Algorithm ◽  
The Common ◽  
Joint Velocity

An efficient locally minimum-time trajectory planning algorithm for coordinately operating multiple robots is introduced. The task of the robots is to carry a common rigid object from an initial position to a final position along a given path in three-dimensional workspace in minimum time. The number of robots in the system is arbitrary. In the proposed algorithm, the desired motion of the common object carried by the robots is used as the key to planning of the trajectories of all the non-redundant robots involved. The search method is used in the trajectory planning. The planned robot trajectories satisfy the joint velocity, acceleration and torque constraints as well as the path constraints. The other constraints such as collision-free constraints, can be easily incorporated into the trajectory planning in future research.

Kinematics of Meshing Surfaces Using Geometric Algebra

2003 ◽  
Author(s):  
Scott M. Miller
Keyword(s):  
Geometric Algebra ◽  
Screw Theory ◽  
Three Dimensional ◽  
Normal Vector ◽  
The Past ◽  
Geometric Concepts ◽  
Vector Algebra ◽  
The Common ◽  
Two Bodies ◽  
Theoretical Developments

As is well known, analysis of two surfaces in mesh plays a fundamental role in gear theory. In the past, special coordinate systems, vector algebra, or screw theory was used to analyze the kinematics of meshing. The approach here instead relies on geometric algebra, an extension of conventional vector algebra. The elegance of geometric algebra for theoretical developments is demonstrated by examining the so-called “equation of meshing,” which requires that the relative velocity of two bodies at a point of contact be perpendicular to the common surface normal vector. With surprisingly little effort, several alternative forms of the equation of meshing are generated and, subsequently, interpreted geometrically. Via straightforward algebraic manipulations, the results of screw theory and vector algebra are unified. Due to the simplicity with which complex geometric concepts are expressed and manipulated, the effort required to grasp the general three-dimensional meshing of surfaces is minimized.

scholarly journals Mathematical modeling and numerical simulation of heat dissipation in led bulbs

2020 ◽  
Vol 24 (3 Part A) ◽  
pp. 1877-1884 ◽  
Author(s):  
Diego Alarcón ◽  
Eduardo. Balvís ◽  
Ricardo Bendaña ◽  
Alberto Conejero ◽  
de Fernández ◽  
...  
Keyword(s):  
Mathematical Modeling ◽  
Numerical Simulation ◽  
Numerical Simulations ◽  
Heat Sink ◽  
Heat Dissipation ◽  
Thermal Contact ◽  
Heat Sinks ◽  
Experimental Measurements ◽  
Heating And Cooling ◽  
The Common

We present a detailed study of heating and cooling processes in LED luminaires with passive heat sinks. Our analysis is supported by numerical simulations as well as experimental measurements, carried on commercial systems used for outdoor lighting. We have focused our analysis on the common case of a single LED source in thermal contact with an aluminum passive heat sink, obtaining an excellent agreement with experimental measurements and the numerical simulations performed. Our results can be easily expanded, without loss of generality, to similar systems.

Structure Design and Kinematic Analysis of Stacking Mechanical Arm of Aluminium Ingot

2013 ◽  
Vol 834-836 ◽  
pp. 1414-1417
Author(s):  
Jia Cheng Cai ◽  
Hai Tao Wu ◽  
Tian Chang Yao ◽  
Da Wei Xu
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Structure Design ◽  
Motion System ◽  
Dynamics And Control ◽  
Set Up ◽  
And Control ◽  
Important Significance ◽  
Reliable Basis

In view of the existing problem of the traditional aluminium ingot stacking practices, it was important significance to research and develop a stack-manipulator that includes various functions to do portage and stack. According to the demand of stacking, the motion system of the Stack-manipulator based on four degrees was finished. The kinematics equation of the manipulator was set up using the D-H theory, On this base, Some of the kinematics problems of this stack-manipulator were discussed and these reliable basis were provided for the research of the manipulators dynamics and control and trajectory planning.

A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot

2006 ◽  
Author(s):  
Zhi Xin Shi ◽  
Yu Feng Luo ◽  
Lu Bing Hang ◽  
Ting Li Yang
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Algebraic Method ◽  
Inverse Kinematic ◽  
New Method ◽  
One Dimension ◽  
Parallel Mechanisms ◽  
Simple Method ◽  
Inverse Kinematics Problem ◽  
Serial Robot

Because the solution to inverse kinematics problem of the general 5R serial robot is unique and its assembly condition has been derived, a simple effective method for inverse kinematics problem of general 6R serial robot or forward kinematics problem of general 7R single-loop mechanism is presented based on one-dimension searching algorithm. The new method has the following features: (1) Using one-dimension searching algorithm, all the real inverse kinematic solutions are obtained and it has higher computing efficiency; (2) Compared with algebraic method, it has evidently reduced the difficulty of deducing formulas. The principle of the new method can be generalized to kinematic analysis of parallel mechanisms.

Kinematics and Dynamics of a Parallel Manipulator With Woven Joints

1993 ◽  
Author(s):  
Hyunsok Pang
Keyword(s):  
Lagrange Multipliers ◽  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Numerical Technique ◽  
Vector Analysis ◽  
Kinematics And Dynamics ◽  
Governing Equations ◽  
Numerical Examples

Abstract Presented is an analysis of the kinematics and the inverse dynamics of a proposed three DOF parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangin technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers in order to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline.

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