..., these equations are used to solve differential forward and inverse kinematics (IK) of the ATUs. Figure 2 shows how external and actuation forces act on the ATU. The CRT is a geometrically exact method that describes a flexible slender object characterized by its centerline arc length s . The typical...

.... Furthermore, the kinematic modeling and analysis are carried out. The mappings among robot's actuator space, joint space and task space are established step by step. Particularly, an improved inverse kinematics algorithm is proposed by combining the constant curvature method with the numerical iterative...

... makes it very challenging to solve its inverse kinematics. The present work proposes a novel adaptive piecewise geometry method to solve the inverse kinematics of the CDHM. The corresponding computation efficiency will be much lower for traditional methods, i.e., the generalized inverse of the Jacobian...

... reduced actuator requirements, allowing the evaluation of prostheses in instrumented walkways or integrated with instrumented treadmills. mobile parallel manipulator gait emulator active force control inverse kinematics forward kinematics bio-inspired design parallel platforms prosthetics...

.... 29 05 2012 18 07 2013 This work directly solves the inverse kinematics of the 6R-2P drill jumbo with 2 redundant DOFs at the displacement level using θ 1 and θ 5 as inputs to avoid solving a nonlinear system. An approach for computing the pose of the end...

...Zhongtao Fu; Wenyu Yang; Zhen Yang References [1] Siciliano , B. , and Khatib , O. , 2008 , Springer Handbook of Robotics , Springer-Verlag , New York Inc . [2] Bingul , Z. , Ertunc , H. M. , and Oysu , C. , 2005 , “ Comparison of Inverse Kinematics Solutions...

... matrix for a given initial posture of the linkage. The inverse kinematics of an 8R nonseparable redundant-joint robot, represented by one of the multiple degrees of freedom of a 9R loop, provides a numerical example of the new analytical technique. 13 08 2011 27 12 2011 25 04 2012 25...