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Inverse kinematics solutions can provide useful data for trajectory planning, motion control, etc. In this paper, a hybrid algebraic and analytical geometric solution with reservation method is proposed to solve the inverse kinematics, and the existence of all the possible solutions are specified. Therefore, without the selection and matching of multiple solutions for each joint, we can directly obtain...
This paper presents a kind of method for the inverse kinematics of a seven degrees of freedom (DoF) arm installed on a mobile humanoid robot. Due to the redundancy of 7-DoF open-chain arm, the closed-loop inverse kinematics via pseudoinverse method is used to solve the corresponding joint trajectories if the end-effector trajectory is given. Because of the existence of the null space in the kinematically...
This paper firstly presents a method to formulate the dynamics of the mobile humanoid robot which is composed by the mobile platform and the upper body. As tip-over is an important stable issue for the mobile robot, the dynamic stability constraint is carefully studied to keep the robot stable. Stable support for the robot moving on a plane is solved. With the consideration of the stability problem...
This paper presents a novel macro/micro 3-DOF parallel platform for micro/nano positioning applications. The kinematics model of the dual parallel mechanism system is established via the stiffness model of individual wide-range flexure hinge and vector-loop equation. The inverse kinematics is analyzed and simulated on a parallel mechanism with real parameters. Whereafter, the reachable and usable...
This paper presents a kind of modeling method for a two-body mobile robot, provides with its kinematic structure parameters and analyzes the forward kinematics and inverse kinematics. Considering the case of surpassing obstacles actively for this two-body mobile robot, the solutions of inverse kinematics are given out based on the geometric approach. Surpassing obstacles and turning analysis are made...
A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) constructed only with prismatic (P), cylindrical (C), revolute (R) joints has been proposed in this paper. The mobility of the 3-PCR TPM is analyzed via screw theory. Afterwards, the inverse kinematics, forward kinematics, and velocity analysis are performed and the singularity problems are investigated. In addition, the...
The concept of a medical parallel manipulator device applicable to chest compressions in the process of cardiopulmonary resuscitation (CPR) is proposed in this paper. According to the requirements of CPR action, a new translational parallel manipulator (TPM) is designed for such applications. And a thorough kinematic analysis and optimization are performed for the designed TPM. The mobility of the...
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