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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Generalized impedance control of a redundant manipulator for handling tasks with position uncertainty while avoiding obstacles

Chen-Fu Liao; M. Donath Proceedings of International Conference on Robotics and Automation, 1997

Positioning uncertainty becomes a major problem for position-control-based robots when operating in contact with the environment. Inaccuracy in positioning parts or inadequate information about part placement has traditionally been addressed through accurate fixturing, calibration and robot programming. Impedance control provides a mechanism for using the reaction forces and torques at the end effector to compensate for positioning uncertainty. Redundant manipulators ...


Balance control of a novel power transmission line inspection robot

Weijie Wang; Tao He; Hesheng Wang; Weidong Chen 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015

This paper presents several methods to maintain the stability of a new designed inspection robot when walking on the power transmission line and overcoming the obstacle on the line. The new dual-arm platform has 3 DOFs of each arm to fulfill rotating, lifting and lowering and moving on the line with a wheel. With a novel mechanism the robot can ...


Asynchronous distributed information leader selection in robotic swarms

Wenhao Luo; Shehzaman S. Khatib; Sasanka Nagavalli; Nilanjan Chakraborty; Katia Sycara 2015 IEEE International Conference on Automation Science and Engineering (CASE), 2015

This paper presents asynchronous distributed algorithms for information leader selection in multi-robot systems based on local communication between each robot and its direct neighbours in the system's communication graph. In particular, the information leaders refer to a small subset of robots that are near the boundary of the swarm and suffice to characterize the swarm boundary information. The leader selection ...


Reactive multi-agent based control of redundant manipulators

P. Bohner; R. Luppen Proceedings of International Conference on Robotics and Automation, 1997

In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All agent is responsible for calculating and controlling the motion of one joint, therefore it is called "joint agent". The agents, their communication and coordination are presented in this ...


Tactile sensor for geometric profile perception

W. S. McMath; S. K. Yeung; E. Petriu; N. Trif Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on, 1991

An experimental robotic tactile sensing system is under development to characterize and identify three-dimensional objects. The authors describe the experimental setup, which consists of a tactile sensor probe and a passive- compliant wrist mounted at the end of a manipulator arm. An incremental strategy for active sequential exploration of an object surface is discussed. A data function technique is presented, ...


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Educational Resources on Kinematics

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eLearning

Generalized impedance control of a redundant manipulator for handling tasks with position uncertainty while avoiding obstacles

Chen-Fu Liao; M. Donath Proceedings of International Conference on Robotics and Automation, 1997

Positioning uncertainty becomes a major problem for position-control-based robots when operating in contact with the environment. Inaccuracy in positioning parts or inadequate information about part placement has traditionally been addressed through accurate fixturing, calibration and robot programming. Impedance control provides a mechanism for using the reaction forces and torques at the end effector to compensate for positioning uncertainty. Redundant manipulators ...


Balance control of a novel power transmission line inspection robot

Weijie Wang; Tao He; Hesheng Wang; Weidong Chen 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015

This paper presents several methods to maintain the stability of a new designed inspection robot when walking on the power transmission line and overcoming the obstacle on the line. The new dual-arm platform has 3 DOFs of each arm to fulfill rotating, lifting and lowering and moving on the line with a wheel. With a novel mechanism the robot can ...


Asynchronous distributed information leader selection in robotic swarms

Wenhao Luo; Shehzaman S. Khatib; Sasanka Nagavalli; Nilanjan Chakraborty; Katia Sycara 2015 IEEE International Conference on Automation Science and Engineering (CASE), 2015

This paper presents asynchronous distributed algorithms for information leader selection in multi-robot systems based on local communication between each robot and its direct neighbours in the system's communication graph. In particular, the information leaders refer to a small subset of robots that are near the boundary of the swarm and suffice to characterize the swarm boundary information. The leader selection ...


Reactive multi-agent based control of redundant manipulators

P. Bohner; R. Luppen Proceedings of International Conference on Robotics and Automation, 1997

In this paper we present a reactive planning and control system for redundant manipulators based on multi-agents. It enables the reactive motion of manipulators in unknown environments by integrating sensor data. All agent is responsible for calculating and controlling the motion of one joint, therefore it is called "joint agent". The agents, their communication and coordination are presented in this ...


Tactile sensor for geometric profile perception

W. S. McMath; S. K. Yeung; E. Petriu; N. Trif Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on, 1991

An experimental robotic tactile sensing system is under development to characterize and identify three-dimensional objects. The authors describe the experimental setup, which consists of a tactile sensor probe and a passive- compliant wrist mounted at the end of a manipulator arm. An incremental strategy for active sequential exploration of an object surface is discussed. A data function technique is presented, ...


More eLearning Resources

IEEE.tv Videos

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IEEE-USA E-Books

  • Index

    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.

  • No title

    This lecture provides an introduction to the field of mobile robotics and the intersection between multiple robotics-related disciplines including electrical, mechanical, computer, software engineering and computer science. It is intended for an upper-level undergraduate or first-year graduate students interested in mobile robotics and artificial intelligence with some experience in object-oriented programming and controls. Focus areas will include robotics history, hardware, control and software. Specific topics include robot components, effectors and actuators, locomotion, kinematics, sensors, feedback control, control architectures, representation, navigation, localization and mapping. The end of each chapter includes review questions as well as exercises to provide applications for the concepts as well as opportunities for further study. Table of Contents: Introduction / Hardware / Control / Software

  • Single-Joint Neuromechanics

    This chapter contains sections titled: 4.1 Joint Kinematics, 4.2 Joint Mechanics, 4.3 Joint Viscoelasticity and Mechanical Impedance, 4.4 Sensory Feedback Control, 4.5 Voluntary Movement, 4.6 Summary

  • 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

  • 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

  • Walking and Running on Yielding and Fluidizing Ground

    We study the detailed locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of closely packed 3 mm diameter glass particles at speeds up to 50 cm/s (5 body length/s), approaching the performance of small, highperforming, desert- dwelling lizards. To reveal how the robot achieves this high performance, we use high speed imaging to capture kinematics, and develop a numerical multi- body simulation of the robot coupled to an experimentally validated discrete element method (DEM) simulation of the granular media. Average forward speeds measured in both experiment and simulation agreed well, and increased non- linearly with stride frequency, reflecting a change in the mode of propulsion. At low frequencies, the robot used a quasi-static "rotary walking" mode, in which the granular material yielded as the legs penetrated and then solidified once vertical force balance was achieved. At high frequencies, duty factor decreased below 0.5 and aerial phases occurred. The propulsion mechanism was qualitatively different: the robot ran rapidly by utilizing the speed- dependent fluid-like inertial response of the material. We also used our simulation tool to vary substrate parameters that were inconvenient to vary in experiment (e.g., granular particle friction) to test performance and reveal limits of stability of the robot. Using small robots as physical models, our study reveals a mechanism by which small animals can achieve high performance on granular substrates, which in return advances the design and control of small robots in deformable terrains.

  • Kinematics

    This chapter contains sections titled: Preliminaries, Planar kinematics, Spherical kinematics, Spatial kinematics, Kinematic constraint, Kinematic mechanisms, Bibliographic notes

  • Multijoint Multimuscle Kinematics and Impedance

    This chapter contains sections titled: 5.1 Kinematic Description, 5.2 Planar Arm Motion, 5.3 Direct and Inverse Kinematics, 5.4 Differential Kinematics and Force Relationships, 5.5 Mechanical Impedance, 5.6 Kinematic Transformations, 5.7 Impedance Geometry, 5.8 Redundancy, 5.9 Redundancy Resolution, 5.10 Optimization with Additional Constraints, 5.11 Posture Selection to Minimize Noise or Disturbance, 5.12 Summary

  • Electromyography-Driven Modeling for Simulating Subject-Specific Movement at the Neuromusculoskeletal Level

    This chapter provides a comprehensive description of subject-specific electromyography (EMG)-driven musculoskeletal models for the human lower extremity. EMG-driven modeling requires experimental human motion data to be captured for model calibration and operation. A musculoskeletal model is created from medical imaging data of bone and muscle surfaces, such as magnetic resonance imaging (MRI) or computed tomography. The multi-degrees of freedom (DOFs) model comprises five main components: musculotendon kinematics, musculotendon activation, musculotendon dynamics, moment computation, and model calibration. The chapter demonstrates the use of EMG-driven modeling to predict musculotendon units (MTUs) forces and the resulting joint moments about multiple DOFs during dynamic motor tasks. It outlines the use of EMG- driven modeling for applications in neurorehabilitation technologies. EMG- driven methodologies can be successfully applied to study dynamic tasks that involve muscle co-contraction. EMG-informed predictions of muscle forces acting on the hip have been also used to improve estimates of bone remodeling stimulus.

  • Applications in Movement and Gait Analysis

    Motion analysis is based on measuring trajectories, rotations of joints, torque values, temporal events, and muscle activities. Force plates embedded in the floors of motion analysis laboratories measure force transfer between foot and ground during gait. Kinematics, kinetics, and surface electromyography (sEMG) are used to identify the causes of motion impairment and the resulting compensatory movements, thus enhancing clinical assessment and supporting decisions such as choice of surgery, orthoses, and rehabilitation protocols. Surface EMG can provide information on the origin of motion produced by muscle activation. EMG during task execution enables muscle activities to be assessed rather than inferred from a combination of observation of movements and clinical evaluation performed under static conditions. To ensure data reliability in applications of motion analysis, raw sEMG data on a fixed y-axis scale must be checked before five criteria: filtering, envelope computation, data normalization, clinical report creation, and statistical analysis for research purposes.



Standards related to Kinematics

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Jobs related to Kinematics

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