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This paper presents an effective local spatial-temporal descriptor for action recognition from skeleton sequences. The unique property of our descriptor is that it takes the spatial-temporal discrimination and action speed variations into account, intending to solve the problems of distinguishing similar actions and identifying actions with different speeds in one goal. The entire algorithm consists...
Trajectory planning has been a common and important topic in robotics since its generation. As a powerful tool, it can enhance the performance of the robots in manufacturing industry. In this paper, a trajectory planning method based on unit quaternion was proposed. Unit quaternions were used to represent the orientations of the target as there are no more singularities. The trajectory was planning...
This paper presents a new approach for motion planning of hyper-redundant manipulators to meet real time and high performance of the control system. In this research, the ant colony optimization (ACO) of rotation angle parameters was applied, to ensure the optimal performance in meeting varying the position of the end effector and the obstacles. Furthermore, collision check between the manipulator...
Inverse kinematics is a general method for defining the joint angles of the robot arm. This method provides an efficient way to control the robot arm for several tasks. However, the server motors or the mechanism design of the robot arm may not always be ideal. If the motor consumption is existed, the error of the final position of the robot arm will be increased. In order to solve this problem, this...
Continuum manipulators can exhibit behaviors similar to snakes, elephant's trunks, and octopus tentacles, which possess incredible dexterity and intrinsic compliance for safe interaction with unstructured environments. However, the lack of enough stiffness limits their scope and application. In this paper, we introduce four different structures of continuum manipulators, including a simple structure...
The main challenge of motion planning for a hyper-redundant manipulator is to implement a modular structure ensure real time and high performance of the control system. In this research, we present a strategy to deal with the motion planning problem of a hyper-redundant manipulator, include uncertain time delay to the control system and obstacle avoidance. Similarly to the principles of motor control...
This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of...
In this paper, a 7-DoF robot table tennis system is presented, which adopts a stereo vision system as its perceptional sensor and a humanoid robot arm as its manipulator. The batting policy, which can return various incoming balls to a desired location, is learned through empirical data based on e-support vector regression(e-SVR). Two experiments, playing with a launcher machine and rallying with...
The paper proposes an integrated approach to solve the inverse kinematics of the 7-DOF humanoid arm with offset wrist. Firstly, according to the arm's configuration, the closed-form solutions of inverse kinematics for 7-DOFs arms are developed based on the reverse coordinates method. Secondly, an integrated inverse kinematic approach, termed the modified gradient projection method, is proposed on...
Normally, people always believe that the more measurement poses used in a robot calibration process, the more accurate result can be obtained. However, the accuracy improvement converges to a threshold after a number of measurement poses. Moreover, robot calibration is a time consuming process, too many poses would seriously complicate the process and consumedly increase the spending time. In this...
McPherson Suspension is researched with multi-body dynamics and Suspension Kinematics theory. When the front rubber bushing stiffness of lower control arm is changed, the suspension performance is analyzed and discussed in the vertical bounce, roll bounce, brake force and drive force. The conclusion is drawn that stiffness of front rubber bushing in all directions has no effect on the suspension performance...
In this paper, an improved algorithm to measure Chinapsilas EMU spacesuit joint damping parameters for the old passive robot system is presented. The measuring principle is based on robot kinematics and dynamics. Firstly, a kinematic model of the passive robot and the EMU spacesuitpsilas arm is built according to the special mechanical structure. Secondly, improved methods of solving the inverse kinematics...
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