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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2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)

AMC2020 is the 16th in a series of biennial international workshops on Advanced Motion Control which aims to bring together researchers from both academia and industry and to promote omnipresent motion control technologies and applications.


2019 41st Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)

The conference program will consist of plenary lectures, symposia, workshops andinvitedsessions of the latest significant findings and developments in all the major fields ofbiomedical engineering.Submitted papers will be peer reviewed. Accepted high quality paperswill be presented in oral and postersessions, will appear in the Conference Proceedings and willbe indexed in PubMed/MEDLINE & IEEE Xplore


2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

The conference is the primary forum for cross-industry and multidisciplinary research in automation. Its goal is to provide a broad coverage and dissemination of foundational research in automation among researchers, academics, and practitioners.


2019 IEEE 17th International Conference on Industrial Informatics (INDIN)

Industrial information technologies


2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)

The conference will provide a forum for discussions and presentations of advancements inknowledge, new methods and technologies relevant to industrial electronics, along with their applications and future developments.


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Periodicals related to Kinematics

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Automatic Control, IEEE Transactions on

The theory, design and application of Control Systems. It shall encompass components, and the integration of these components, as are necessary for the construction of such systems. The word `systems' as used herein shall be interpreted to include physical, biological, organizational and other entities and combinations thereof, which can be represented through a mathematical symbolism. The Field of Interest: shall ...


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.


Control Systems Technology, IEEE Transactions on

Serves as a compendium for papers on the technological advances in control engineering and as an archival publication which will bridge the gap between theory and practice. Papers will highlight the latest knowledge, exploratory developments, and practical applications in all aspects of the technology needed to implement control systems from analysis and design through simulation and hardware.


Industrial Electronics, IEEE Transactions on

Theory and applications of industrial electronics and control instrumentation science and engineering, including microprocessor control systems, high-power controls, process control, programmable controllers, numerical and program control systems, flow meters, and identification systems.


Instrumentation & Measurement Magazine, IEEE

Applications-oriented material in the field of instrumentation and measurement.


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Most published Xplore authors for Kinematics

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Xplore Articles related to Kinematics

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A Multi-Link-Flexible Robot Arm Catching Thrown Balls

ROBOTIK 2012; 7th German Conference on Robotics, 2012

The contribution proposes a control architecture, which enables a multi-link- flexible robot arm under gravitational influence to catch multiple balls sequentially thrown by a human. A net at the end-effector is utilized to intercept the balls when they pass the vertically oriented robot plane of motion. The ball detection, tracking as well as the prediction of the ball intercept location ...


Automatic Generation of the Denavit-Hartenberg Convention

ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), 2010

This paper presents the automatic setup of the Denavit-Hartenberg notation for open chain robots. A graphical interface and a virtual construction kit using established joint and link symbols are provided. The user combines symbols by pick and place to define the kinematical configuration. A matrix is automatically generated that competely represents the geometric configuration. Related to this matrix the Denavit-Hartenberg ...


Control of Nonholonomic Electrically-Driven Tractor-Trailer Wheeled Robots based on Adaptive Partial Linearization

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM), 2018

Wheeled Mobile Robots (WMRs) are simple, easy to move on hard and level terrain and can be controlled effectively. Due to these merits, many researchers have studied the challenges of WMRs. To improve the payload transportation capability of wheeled vehicles, one or several platform, named as trailer, may towed to a tractor wheeled platform. In the current paper, for the ...


Traveling Wave Locomotion of Snake Robot along Symmetrical and Unsymmetrical body shapes

ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), 2010

In this paper, kinematics and dynamics of traveling wave locomotion of a snake robot with two types of body shapes are developed. The body shape, also called body curve, is the actual geometrical shape in the plane in which the robot can assume during its progression. The snake can then travel along this curve. Two types of body curves, symmetrical ...


Dynamics Modeling and Performance Analysis of RoboWalk

2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM), 2018

In this article, after introducing the RoboWalk body weight support assistive device, the forward kinematics of human and the inverse kinematics of the assistive robot are introduced. Then, a method for obtaining an analytical dynamics of the system is presented. This method is based on modeling the human body without modeling its constraints and contact forces. Then, the contact forces ...


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Educational Resources on Kinematics

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IEEE-USA E-Books

  • A Multi-Link-Flexible Robot Arm Catching Thrown Balls

    The contribution proposes a control architecture, which enables a multi-link- flexible robot arm under gravitational influence to catch multiple balls sequentially thrown by a human. A net at the end-effector is utilized to intercept the balls when they pass the vertically oriented robot plane of motion. The ball detection, tracking as well as the prediction of the ball intercept location is based on a wall-mounted Kinect RGB-D sensor. Previously caught balls represent a varying payload, which induces also dynamic disturbances due to the pendulum motion. These disturbances as well as the coupled flexible-link vibrations are damped with a model free independent joint controller. The inverse kinematics approach is based on neural networks and augmented by an online payload estimation.

  • Automatic Generation of the Denavit-Hartenberg Convention

    This paper presents the automatic setup of the Denavit-Hartenberg notation for open chain robots. A graphical interface and a virtual construction kit using established joint and link symbols are provided. The user combines symbols by pick and place to define the kinematical configuration. A matrix is automatically generated that competely represents the geometric configuration. Related to this matrix the Denavit-Hartenberg notation is automatically determined - a new feature that solves the generic problem for the first time. Since the definitions resulting from the Denavit-Hartenberg convention are not unique, some additional rules and modifications in the sequence of applying the rules are used in order to obtain a unique description. Furthermore it is outlined how the presented solution can be extended to an integrated tool for the prototyping of new or modified robotic structures.

  • Control of Nonholonomic Electrically-Driven Tractor-Trailer Wheeled Robots based on Adaptive Partial Linearization

    Wheeled Mobile Robots (WMRs) are simple, easy to move on hard and level terrain and can be controlled effectively. Due to these merits, many researchers have studied the challenges of WMRs. To improve the payload transportation capability of wheeled vehicles, one or several platform, named as trailer, may towed to a tractor wheeled platform. In the current paper, for the first time, the motion control of such tractor trailer systems is addressed while the actuator dynamics is considered. Toward this goal, the system kinematics and dynamics will be derived and will be coupled to its actuators model. To control the considered nonholonomic system, the technique of input-output feedback linearization along with look-ahead point notion will be utilized. Besides, some of the imprecise parameters in the proposed model- based controller are identified in an on-line manner. The obtained computer simulation results support the soundness of the proposed controller.

  • Traveling Wave Locomotion of Snake Robot along Symmetrical and Unsymmetrical body shapes

    In this paper, kinematics and dynamics of traveling wave locomotion of a snake robot with two types of body shapes are developed. The body shape, also called body curve, is the actual geometrical shape in the plane in which the robot can assume during its progression. The snake can then travel along this curve. Two types of body curves, symmetrical and unsymmetrical, have been introduced for creeping locomotion, in horizontal plane. Kinematics and dynamic of traveling wave with symmetrical body curve has also been developed. These concepts are applied and kinematics and dynamics for traveling wave in vertical plane with unsymmetrical body shapes are obtained. In kinematics section, we first determine the joint relative angles using the body shape and curvature function. Next, position, velocity and acceleration of each link as well as center of gravity of the snake body are calculated. In Dynamic's section, force diagram of the i(exp th) link is shown. Using Newton principle, relative motion of the i(exp th) link with respect to the (i+1)(exp th) link is determined. Next, effects of friction coefficient, initial winding angle and the unsymmetrical factor on the joint torques are investigated. Results indicate that as the winding angle increases, joint torques decreases. Additionally, it is shown that the unsymmetrical factor, k, does not significantly affect torques. Finally, to validate our analysis, traveling wave locomotion is simulated in both Webots as well as MATLAB. It is shown that the traveling wave locomotion for both symmetrical and unsymmetrical body shapes is realized.

  • Dynamics Modeling and Performance Analysis of RoboWalk

    In this article, after introducing the RoboWalk body weight support assistive device, the forward kinematics of human and the inverse kinematics of the assistive robot are introduced. Then, a method for obtaining an analytical dynamics of the system is presented. This method is based on modeling the human body without modeling its constraints and contact forces. Then, the contact forces are taken into account and mapped into joint space of the robot using the jacobian matrices of interaction points. This method of modeling is then compared and verified by the numerical Recursive Newton Euler Algorithm. Since the numerical method is more efficient and has less computational complexities, it can be used in implementing the control algorithms on the robot. After the model is verified, a control strategy for assisting the user is designed and implemented on the developed model of RoboWalk. The performance of this control strategy is evaluated by comparing the floor reaction force and user joint torques if using Robowalk or not. Finally, the actuator’s specification to fulfill our requirements is discussed.

  • Motion planning of Free-Floating Space Robot based on gauss pseudo-spectral method

    A nonholonomic motion planning approach is proposed toward the problem of Free-Floating Space Robot (FFSR) motion planning with zero-disturbance base attitude. Firstly, the kinematics model of FFSR is established, and the motion planning problem is transcribed to an optimal control problem. Secondly, the optimal control problem is transcribed to a non-linear parameter optimization problem by using GPM. Finally, an example of a 6-DOF manipulator FFSR verifies the validity of the method. The results indicate that the planned joint angle trajectories are smooth and continuous with no accelerations leap at the initial and terminal time, and the disturbance of base attitude is limited with no disturbance of base attitude at the terminal time.

  • The Body Extender: A Full-Body Exoskeleton for the Transport and Handling of Heavy Loads

    This article introduces and describes an electrically powered full-body (FB) exoskeleton, called the body extender (BE), intended as a research platform for the study of the transport and handling of heavy loads up to 50 kg, with one hand at worst-load conditions (WLCs). The machine features a 22-degrees- of-freedom (DoF) quasi-anthropomorphic kinematic scheme and a modular hardware/software architecture that made it possible to manage the complexity of the system design. Besides providing a context and some general guidelines, which have driven the design of the BE, this article presents the hardware and software developments that have been achieved and implemented in the machine. The experimental results are shown that prove the functionalities of the BE in common operating conditions such as walking, squatting, and handling loads. The one-of-a-kind system demonstrates, in relevant laboratory settings, the feasibility of a complex, electrically powered full-body exoskeleton with such a target payload.

  • Experiments with Tentacle Robots

    An ideal tentacle manipulator is a non-conventional robotic arm with an infinite mobility. It has the capability of taking sophisticated shapes and of achieving any position and orientation in a 3D space. A tentacle manipulator is a hyper redundant or hyper degree of freedom manipulator. Hyper redundant robots produce changes of configuration using a continuous backbone made of sections which bend. The lack of no discrete joints is a serious and difficult issue in the determination of the robot's shape. A solution for this problem is the vision based control of the robot, kinematics and dynamics. A tentacle arm prototype was designed and the practical realization is now running. The control system is an image based visual servo control where the error control signal is defined directly in terms of image feature parameters.

  • Design and implementation of a dung beetle robot

    This paper describes the development of a dung beetle robot. The work studied the dung ball rolling motion of dung beetles, and the equations for rolling motion were derived. Then, a bio-inspired dung beetle robot, which could mimic the ball rolling motion of dung beetles, was built.

  • Visual servo hexapod robot control

    This paper proposes a visual servo hexapod robot control design, where the hexapod robot is shown in Fig. 1 in which the body is equipped with embedded systems, servo controllers, eighteen DC servos, and one CCD.



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