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Keywords: inverse kinematics
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Proceedings Papers

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A052, August 17–19, 2021
Paper No: DETC2021-70853
... the inverse kinematics problems of the fragments. We obtained multiple conformations that maintained the relative position and orientation between both ends. Raghavan and Roth’s solution effectively conveys all real solutions. However, the solution is not directly applicable when some link lengths are zeros...
Proceedings Papers

Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A015, August 17–19, 2021
Paper No: DETC2021-71619
... Kinematic Machine tools have received a lot unnecessarily complex and inverse kinematics complete this task of attention due to their high dynamic flexibility, structural with much ease. To analyze different techniques, an external rigidity, high accuracy due to the closed kinematic loops, no error...
Proceedings Papers

Proc. ASME. DETC97, Volume 5: 17th Computers in Engineering Conference, V005T32A036, September 14–17, 1997
Paper No: DETC97/CIE-4283
...Abstract Abstract A semi-analytical method and a computer program are developed for inverse kinematics solution of a class of robotic manipulators, in which four joint variables are contained in wrist point equations. For this case, it becomes possible to express all the joint variables...
Proceedings Papers

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 479-488, September 12–16, 1999
Paper No: DETC99/DAC-8672
...Proceedings of the 1999 ASME Design Engineering Technical Conferences September 12-15, 1999, Las Vegas, Nevada DETC99ZDAC-8672 A KINEMATIC STRUCTURE BASED CLASSIFICATION OF SIX-DOF INDUSTRIAL ROBOTS AND A METHOD OF INVERSE KINEMATIC SOLUTION Tuna BALKAN, M. Kemal OZGOREN, M.A. Sahir ARIKAN and H...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 769-777, September 10–13, 2000
Paper No: DETC2000/MECH-14135
...Abstract Abstract In this study, an inverse kinematic solution approach applicable to six degree-of-freedom industrial robotic manipulators is introduced. The approach is based on a previously introduced kinematic classification of industrial robotic manipulators by Balkan et al. (1999...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 789-794, September 10–13, 2000
Paper No: DETC2000/MECH-14137
...Abstract Abstract Based on the linear transformation theory, a general method for inverse kinematic analysis of 5R serial robots is proposed in this paper. Using this method, a polynomial equation, which contains only one variable and no extraneous roots, can be derived from 3 original...
Proceedings Papers

Proc. ASME. IDETC-CIE2012, Volume 3: 38th Design Automation Conference, Parts A and B, 641-652, August 12–15, 2012
Paper No: DETC2012-70560
...) in an inverse kinematic problem. The dynamic reliability refers to the probability that the human end-effector position (and/or velocity) falls within a specified distance from the desired position (and/or velocity) along a specified trajectory in the workspace. The dynamic equations of motion for DHM...
Proceedings Papers

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1309-1316, August 15–18, 2010
Paper No: DETC2010-28387
... in the Cartesian space, the problem of inverse kinematics needs to be solved. For non-redundant manipulators, a desired end-effector position and orientation can be achieved by a finite number of solutions. For redundant manipulators however, there are in general infinitely many solutions where the cardinality...
Proceedings Papers

Proc. ASME. IDETC-CIE2008, Volume 3: 28th Computers and Information in Engineering Conference, Parts A and B, 1107-1114, August 3–6, 2008
Paper No: DETC2008-50078
... 24 07 2009 A neural network capable of solving the inverse kinematics of a four degree of freedom biologically inspired robotic cat leg (qualified as a serial linkage system) within its effective 3-D workspace is presented in this paper. The workspace consists of layers of similar...
Proceedings Papers

Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 737-745, August 3–6, 2008
Paper No: DETC2008-49163
... degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 991-999, September 4–7, 2007
Paper No: DETC2007-34459
... for the cable forces for a given task force. This method is applied to an example 2-DOF translational cable-driven manipulator and a geometrical demonstration is presented. wire-driven parallel robot manipulators tendon-driven robots inverse kinematics optimization convex analysis pretension cable...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 1: 30th Design Automation Conference, 85-91, September 28–October 2, 2004
Paper No: DETC2004-57086
..., the authors develop a simulation system for robot spray painting. inverse kinematics Lie algebra painting simulation motion interpolation Proceedings of DETC 04 ME 2004 Design Engineering Technical Conferences and S R O g d u 6 e method to solve inverse kinematics problems using Lie algebra...
Proceedings Papers

Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 349-359, September 29–October 2, 2002
Paper No: DETC2002/MECH-34239
... are considered as objective functions that drive the model to a solution. The formulation is then validated against existing posture prediction algorithms and confirmed with human experimental data. posture prediction inverse kinematics human postures task-based postures Proceedings of DETC’02: ASME...
Proceedings Papers

Proc. ASME. IDETC-CIE2005, Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, 785-792, September 24–28, 2005
Paper No: DETC2005-84551
... kinematic analysis, while choosing the standard approach twelve nonlinear equations should be solved for each way of actuation. A unique inverse kinematic method has been presented. The singularly analysis for all these different ways of actuation has also been studied. For two out of the twenty different...
Proceedings Papers

Proc. ASME. IDETC-CIE2006, Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 1017-1027, September 10–13, 2006
Paper No: DETC2006-99559
... weight and complexity, and predictable manipulation at lower cost. Challenges to using digital manipulators are the discrete end-effector positions which make the inverse kinematics problem difficult to solve. Furthermore, for a specific application position in the manipulator workspace, there may...