Kinematics

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Kinematics (from Greek κινεῖν, kinein, to move) is the branch of classical mechanics that describes the motion of bodies (objects) and systems (groups of objects) without consideration of the forces that cause the motion. (Wikipedia.org)






Conferences related to Kinematics

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2014 IEEE International Conference on Systems, Man and Cybernetics - SMC

SMC2014 targets advances in Systems Science and Engineering, Human-Machine Systems, and Cybernetics involving state-of-art technologies interacting with humans to provide an enriching experience and thereby improving the quality of lives including theories, methodologies, and emerging applications.


2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)

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  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

    Papers are solicited in all related areas in robotics and intelligent systems. Proposals for tutorials and workshops, as well as organized/special sessions are also welcome to address the emerging areas and innovative applications of new technologies.

  • 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)

    The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) will be held in Vilamoura-Algarve, Portugal, during October 7-11, 2012. The theme of the conference will be Robotics for Quality of Life and Sustainable Development. Papers are solicited in all related areas in robotics and intelligent systems. Proposals for tutorials and workshops, as well as organized/special sessions are also welcome to address the emerging areas and innovative applications of new technologies.

  • 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)

    The 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) will be held in San Francisco, California, USA, during September 25-30, 2011. The theme of the conference will be Human- Centered Robotics, and its format will feature innovations in the form of interactive multimedia presentations and special-topic symposia celebrating 50 years of robotics.

  • 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)

    Papers are solicited in all related areas in robotics and intelligent systems. Proposals and tutorials and workshops, as well as organized/special sessions are also welcome to address the emerging areas and innovative applications of new technologies.

  • 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)

    Papers are solicited in all related areas in robotics and intelligent systems. Proposals for tutorials and workshops, as well as organized/special sessions are also welcome to address the emerging areas and innovative applications of new technologies.

  • 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)

    IROS 2008 serves as an international forum for robotics researchers to discuss and exchange their ideas on technical problems and their solutions. Conference includes technical presentations, tutorials and workshops, exhibits, posters, competitions, plenary session, and panel discussions.

  • 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)

  • 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006)

  • 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005)


2013 IEEE International Conference on Mechatronics and Automation (ICMA)

The objective of ICMA 2013 is to provide a forum for researchers, educators, engineers, and government officials involved in the general areas of mechatronics, robotics, automation and sensors to disseminate their latest research results and exchange views on the future research directions.


2013 Joint IFSA World Congress and NAFIPS Annual Meeting (IFSA/NAFIPS)

IFSA-NAFIPS 2013 aims to bring together researchers, engineers and practitioners to present the latest achievements and innovations in the area of fuzzy information processing, to discuss thought-provoking developments and challenges.


2012 24th Chinese Control and Decision Conference (CCDC)

Chinese Control and Decision Conference is an annual international conference to create a forum for scientists, engineers and practitioners throughout the world to present the latest advancement in Control, Decision, Automation, Robotics and Emerging Technologies.


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Periodicals related to Kinematics

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Biomedical Engineering, IEEE Transactions on

Broad coverage of concepts and methods of the physical and engineering sciences applied in biology and medicine, ranging from formalized mathematical theory through experimental science and technological development to practical clinical applications.


Robotics, IEEE Transactions on

Publishes fundamental papers on all aspects of Robotics, featuring interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, and other fields. Robots and intelligent machines and systems are critical in areas such as industrial applications; service and personal assistants; surgical operations; space, underwater, and remote exploration; entertainment; safety, search, and rescue; military applications; agriculture applications; and intelligent ...



Most published Xplore authors for Kinematics

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Xplore Articles related to Kinematics

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Force control of redundant robots in unstructured environment

B. Nemec; L. Zlajpah IEEE Transactions on Industrial Electronics, 2002

In this paper, a method for force control of redundant robots in an unstructured environment is proposed. We assume that the obstacles are not known in advance. Hence, the robot arm has to be compliant with the environment while tracking the desired position and force at the end-effector. First, the dynamic properties of the internal motion of redundant manipulators are ...


Induced Wheel-Based Study on Point Contact Kinematics Modeling for Ultra-Precision Grinding

Yong Xu; Zhenhua Jiang; Jinyu Xie 2011 Second International Conference on Digital Manufacturing & Automation, 2011

While point contact kinematics has been recognized as the standard kinematics in ultra-precision grinding of off-axis aspheric optics, its modeling which is the prerequisite for grinding force, energy and thermal modeling in this kinematics has not been fully explored. It is by no means an easy task due to the lack of mathematic model for freeform wheel-work piece conformity. This ...


The distributed intelligent control of complex systems

W. J. Davis Intelligent Processing and Manufacturing of Materials, 1999. IPMM '99. Proceedings of the Second International Conference on, 1999

The paper begins by discussing the relationship of planning and control, the notion of intelligent control, and the need for the distributed intelligent control of complex systems. The paper then discusses an architecture for a distributed intelligent control architecture. The first step is to define a modeling paradigm that will recursively decompose the overall system into a collection of subsystems ...


Kinematic analysis of a shotcreting robot

Rong Xuewen; Li Yibin; Song Rui 2010 International Conference on Mechanic Automation and Control Engineering, 2010

The shotcreting robot has 8 joints including 3 joints coupled with others on the shotcreting robot. This paper set up the Denavit-Hartenberg Frames and deduced the kinematic equations with extra three constrain equations to decouple the linked motions. The unique analytical solution of the inverse kinematic equations was educed, which provided foundation for further research on trajectory plan, dynamics analysis ...


Pushing an Object Considering the Hand Reflect Forces by Humanoid Robot in Dynamic Walking

T. Takubo; K. Inoue; T. Arai Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

This paper discusses pushing a heavy object by a humanoid robot. We modify the whole body motion considering the hand reflecting forces for the walking pattern of a humanoid robot. By assuming that linear and angular momentum of a humanoid robot are calculated, we define the projection of the Center of the Mass(CoM) as" Dynamically Complemental Zero Moment Point(DCZMP)", when ...


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Educational Resources on Kinematics

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eLearning

Force control of redundant robots in unstructured environment

B. Nemec; L. Zlajpah IEEE Transactions on Industrial Electronics, 2002

In this paper, a method for force control of redundant robots in an unstructured environment is proposed. We assume that the obstacles are not known in advance. Hence, the robot arm has to be compliant with the environment while tracking the desired position and force at the end-effector. First, the dynamic properties of the internal motion of redundant manipulators are ...


Induced Wheel-Based Study on Point Contact Kinematics Modeling for Ultra-Precision Grinding

Yong Xu; Zhenhua Jiang; Jinyu Xie 2011 Second International Conference on Digital Manufacturing & Automation, 2011

While point contact kinematics has been recognized as the standard kinematics in ultra-precision grinding of off-axis aspheric optics, its modeling which is the prerequisite for grinding force, energy and thermal modeling in this kinematics has not been fully explored. It is by no means an easy task due to the lack of mathematic model for freeform wheel-work piece conformity. This ...


The distributed intelligent control of complex systems

W. J. Davis Intelligent Processing and Manufacturing of Materials, 1999. IPMM '99. Proceedings of the Second International Conference on, 1999

The paper begins by discussing the relationship of planning and control, the notion of intelligent control, and the need for the distributed intelligent control of complex systems. The paper then discusses an architecture for a distributed intelligent control architecture. The first step is to define a modeling paradigm that will recursively decompose the overall system into a collection of subsystems ...


Kinematic analysis of a shotcreting robot

Rong Xuewen; Li Yibin; Song Rui 2010 International Conference on Mechanic Automation and Control Engineering, 2010

The shotcreting robot has 8 joints including 3 joints coupled with others on the shotcreting robot. This paper set up the Denavit-Hartenberg Frames and deduced the kinematic equations with extra three constrain equations to decouple the linked motions. The unique analytical solution of the inverse kinematic equations was educed, which provided foundation for further research on trajectory plan, dynamics analysis ...


Pushing an Object Considering the Hand Reflect Forces by Humanoid Robot in Dynamic Walking

T. Takubo; K. Inoue; T. Arai Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

This paper discusses pushing a heavy object by a humanoid robot. We modify the whole body motion considering the hand reflecting forces for the walking pattern of a humanoid robot. By assuming that linear and angular momentum of a humanoid robot are calculated, we define the projection of the Center of the Mass(CoM) as" Dynamically Complemental Zero Moment Point(DCZMP)", when ...


More eLearning Resources

IEEE-USA E-Books

  • Model-Based Proprioceptive State Estimation for Spring-Mass Running

    Autonomous applications of legged platforms will inevitably require accurate state estimation both for feedback control as well as mapping and planning. Even though kinematic models and low-bandwidth visual localization may be sufficient for fully-actuated, statically stable legged robots, they are inadequate for dynamically dexterous, underactuated platforms where second order dynamics are dominant, noise levels are high and sensory limitations are more severe. In this paper, we introduce a model based state estimation method for dynamic running behaviors with a simple spring-mass runner. By using an approximate analytic solution to the dynamics of the model within an Extended Kalman filter framework, the estimation accuracy of our model remains accurate even at low sampling frequencies. We also propose two new event-based sensory modalities that further improve estimation performance in cases where even the internal kinematics of a robot cannot be fully observed, such as when flexible materials are used for limb designs. We present comparative simulation results to establish that our method outperforms traditional approaches which rely on constant acceleration motion models and that it eliminates the need for an extensive and unrealistic sensor suite.

  • Kinematics

    This chapter contains sections titled: Position and Orientation of Objects, Coordinate Transformation, Joint Variables and Position of End Effector, Inverse Kinematics Problem, Jacobian Matrix, Statics and Jacobian Matrices, Exercises, References

  • Electron Diffraction

    This chapter contains sections titled: Overview Principles of Low-Energy Electron Diffraction LEED Equipment LEED Kinematics Surface Reconstruction Surface Lattices and Superstructures Silicon Reconstructions III-V Compound Semiconductor Reconstructions Reflection High-Energy Electron Diffraction Summary

  • Generation of movement trajectories in primates and robots

    The design of brainlike machines for robot motor control ultimately requires a radical departure from the current robotics approach of implementing kinematics and internal space representation by means of software in synchronous, digital, and sequential 'general purpose' computers. In stead, neural net motor control of intelligent robots aims at hardware implementation of kinematics and internal space representation by means of self-organizing neural nets, which operate asynchronously, as fully parallel 'special purpose' analogue computers. On the basis of our present knowledge of the neural control of movements in the primate brain, recent concepts and models of artificial neural net motor control a rebeing presented.

  • Mechanical Engineering

    This chapter contains sections titled: Sound Mechanical Properties of Materials Beams Statics Dynamics Kinematics Friction Bearings Heat Fluid Power Mechanical Fabrication Flexible Devices Commercial Mechanical Components Null Measurement Oscillation Mechanism

  • Nonlinear physically-based models for decoding motor-cortical population activity

    Neural motor prostheses (NMPs) require the accurate decoding of motor cortical population activity for the control of an artificial motor system. Previous work on cortical decoding for NMPs has focused on the recovery of hand kinematics. Human NMPs however may require the control of computer cursors or robotic devices with very different physical and dynamical properties. Here we show that the firing rates of cells in the primary motor cortex of non-human primates can be used to control the parameters of an artificial physical system exhibiting realistic dynamics. The model represents 2D hand motion in terms of a point mass connected to a system of idealized springs. The nonlinear spring coefficients are estimated from the firing rates of neurons in the motor cortex. We evaluate linear and a nonlinear decoding algorithms using neural recordings from two monkeys performing two different tasks. We found that the decoded spring coefficients produced accurate hand trajectories compared with state-of-the-art methods for direct decoding of hand kinematics. Furthermore, using a physically-based system produced decoded movements that were more "natural" in that their frequency spectrum more closely matched that of natural hand movements.

  • Neural and Conceptual Interpretation of PDP Models

    This chapter contains sections titled: Neural and Conceptual Interpretations, From Network of Processors to Dynamical System, Kinematics and Dynamics, Kinematics, Vector Space Structure, Pattern Coordinates, The Isomorphism Hypothesis Holds in Linear Systems, Localized Damage and the Isomorphism of Levels, Learning of Connections and the Isomorphism of Levels, Nonlinearity and Restricted State Space, The Isomorphism Hypothesis Fails in Nonlinear Models, Natural Competition in Distributed Nonlinear Models, Conclusion, Acknowledgments

  • Lyapunov Stability Theory

    Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. Illustrative examples appear throughout.The author begins by discussing typical robot manipulator mechanisms and their controllers. He then devotes three chapters to the analysis of robot manipulator mechanisms. He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters. The final chapter develops the concept of manipulability.The second half focuses on the control of robot manipulators. Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described. Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theory.Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering.

  • Mobile Robot Kinematics

    This chapter contains sections titled: Introduction, Kinematic Models and Constraints, Mobile Robot Maneuverability, Mobile Robot Workspace, Beyond Basic Kinematics, Motion Control (Kinematic Control), Problems

  • References

    This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.



Standards related to Kinematics

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Jobs related to Kinematics

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