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W pracy przedstawiono zagadnienie modelowania kinematyki ruchu autonomicznego pojazdu transportowego skonstruowanego na Uczelni Hochschule Ravensburg-Weingarten. W pracy sformułowano i rozwiązano zagadnienie proste jak i odwrotne kinematyki 8-kołowego autonomicznego pojazdu transportowego oraz przedstawiono przykładowe wyniki symulacyjne reprezentujące zmiany poszczególnych parametrów ruchu. W modelu...
This paper aims at challenging Bernstein's problem called the "degrees of freedom problem", which is known to remain unsolved from both the physiological and the robotics viewpoints. More than a half century ago A.N. Bernstein observed and claimed that "dexterity" resident in human limb motion emerges from involvement of multijoint movements with surplus DOF. It is also said in...
Various neural models are considered for solving the robot forward kinematics problem. It is demonstrated that a three-layer backpropagation network is capable of learning the forward kinematics of a rigid-link, open-chain manipulator without knowledge of the manipulator's kinematic structure. Simulation results show that, by properly training such a network, it is possible to model the forward kinematics...
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