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In this paper, a new posture prediction method is proposed and evaluated on human leg, as being a physiologically constrained three-link arm. The main posture prediction solution is focused on optimizing the manipulability and the human performance of the leg. The forward kinematics is used to define the feasible workspace of the human leg in sagittal plane. Using an effective optimization-based human...
Web-based learning plays a vital role in the modern education system, where different technologies are being emerged to enhance this E-learning process. Therefore virtual and online laboratories are gaining popularity due to its easy implementation and accessibility worldwide. These types of virtual labs are useful where the setup of the actual laboratory is complicated due to several factors such...
Robotics is a multi-disciplinary branch of science and technology. It is concerned with the study of multiple bodies in coordinated and controlled motion in space. As such it is inherently 3-dimenstional and requires a multidisciplinary approach that combines a variety of technologies, engineering disciplines, and advanced mathematics. Teaching robotics requires a solid understanding of the kinematics,...
The paper presents two different types of approach for mathematical modeling of quadcopter kinematics and dynamics. The first one is based on the equations of classical mechanics and the other one is derived from Denavit-Hartenberg formalism and Lagrangian mechanics. The obtained models were used to design the control of the quadcopter motion on one rotation axis. The paper also offers some details...
This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution...
Fish swimming demonstrates impressive speeds and exceptional characteristics in the fluid environment. The objective of this paper is to mimic undulatory swimming behaviour and its control in a body caudal fin (BCF) carangiform fish in a robotic counterpart. Based on fish biology a 2-level behavior based control scheme is proposed. High level control is modeled by robotic fish swimming behavior. It...
Sir J. Lighthill mathematical slender body swimming model formulates the biological fish propulsion mechanism (undulation) in fluid environment. The present research has focused on the relevance of Lighthill (LH) based biomimetic robotic propulsion. A 2-joint, 3-link multibody vehicle model biologically inspired by a Body Caudal Fin (BCF) carangiform fish propulsion mechanism is designed. Different...
This paper describes and compares several approaches applied to compute the inverse kinematics of a 10 degrees of freedom hyper-redundant robot. The proposed approaches are based on an exhaustive method and several error optimization algorithms. The algorithms' performance was evaluated based on two criteria: computing time and final actuator positioning error. The mentioned hyper-redundant robot...
The objective of this paper is to mimic the propulsion mechanism of the BCF mode carangiform swimming style to show the fish behavior navigating efficiently over large distances at impressive speeds and its exceptional characteristics in the fluid environment. The robofish model (kinematics and dynamics) is integrated with the Lighthill(LH) mathematical model framework. Comparative studies are undertaken...
This paper shows a preliminary proposition to the mechanical design and, also kinematics and gap models for an active prosthesis applied to transtibial amputees. It is pointed that an active prosthesis is capable to absorb and amplify the forces during human walking. Tools applied to robotics like Denavit-Hartenberg's algorithm and the Lagrangean may be applied in mathematical modeling in order to...
The concept of e-learning has become popular in recent years as higher education institutions have been introducing it to support the conventional teaching approach. However, the implementation of e-learning in technical disciplines (e.g. Robotics and Simulation) is still far behind the rapid growth of practice in narrative disciplines (e.g. Database and Theory of Computer Science). The perception...
Modeling and simulation of multi-fingered robot hand (MFRH) is increasingly gaining importance amongst researchers for industrial and medical applications. In this paper, a MFRH with five fingers is modeled and simulated for grasping task. This was done using a CAD tool known as Solidworks, and an analytical tool known as SimMechanics of MATLAB. The simulation results show that the improved performance...
This paper presents the design and control of a Stewart-Platform. The Stewart platform is designed based on a set of six independently prismatic actuators. The actuators translate through spherical joints which reside on a stationary platform. Each strut is driven by a DC motor. In this paper, kinematic characteristic and its limitation are discussed. Simulations and experiments are conducted to evaluate...
The biomechanical analysis done in this project is to assist the development of the robot assisted stroke rehabilitation system. Thus, the analysis of the upper limbpsilas motions focus on rehabilitation training for stroke survivor. As the human upper limb system is a natural biomechanical system, which can be modeled as links connected together by different joints with its own biological properties,...
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