Related papers: Forward Kinematics Solution For A General Stewart …
The paper proposes an efficient algebraic solution to the problem of forward kinematics for a general Stewart-Gough platform. The problem involves determining all possible postures of a mobile platform connected to a fixed base by six legs,…
Accurate calibration of a Stewart platform is important for their precise and efficient operation. However, the calibration of these platforms using forward kinematics is a challenge for researchers because forward kinematics normally…
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
Stewart platform-based Parallel Kinematic (PKM) Machines have been extensively studied by researchers due to their inherent finer control characteristics. This has opened its potential deployment opportunities in versatile critical…
Researchers have studied Stewart-Gough platforms, also known as Gough-Stewart platforms or hexapod platforms extensively for their inherent fine control characteristics. Their studies led to the potential deployment opportunities of…
Inverse kinematics - finding joint poses that reach a given Cartesian-space end-effector pose - is a common operation in robotics, since goals and waypoints are typically defined in Cartesian space, but robots must be controlled in joint…
Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
In this paper, a new numerical method to solve the forward kinematics (FK) of a parallel manipulator with three-limb spherical-prismatic-revolute (3SPR) structure is presented. Unlike the existing numerical approaches that rely on…
Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
In this paper, we propose to estimate the forward dynamics equations of mechanical systems by learning a model of the inverse dynamics and estimating individual dynamics components from it. We revisit the classical formulation of rigid body…
Inverse kinematics is an important and challenging problem in the operation of industrial manipulators. This study proposes a simple inverse kinematics calculation scheme for an industrial serial manipulator. The proposed technique can…
This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematics as a set of recursive equations and developed efficient…
This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for research and education. The platform combines off the shelf…
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using…