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Huayan Pu - One of the best experts on this subject based on the ideXlab platform.

  • Forward Kinematics Analysis and 3-Dimmision Gait Simulation of a MiniQuad Walking Robot
    2007 International Conference on Mechatronics and Automation, 2007
    Co-Authors: Xinjie Wang, Xuedong Chen, Huayan Pu
    Abstract:

    Kinematics analysis is essential for robotic design and control. The Forward Kinematics of a multilegged walking robot is very complicated due to its complex mechanism and redundant actuation. In this paper, the Forward Kinematics of reptile-like multilegged robots is analyzed by considering the basic walking pattern with three supporting legs. The redundant joint variables are first derived and expressed in terms of the independent joint variables. Based on the redundant actuation analysis, the Forward position, velocity, and acceleration are derived. The resultant formulas are verified through a numerical example and a simulation on a multilegged walking robot MiniQuad-I.

Mazen Zein - One of the best experts on this subject based on the ideXlab platform.

  • degeneracy study of the Forward Kinematics of planar 3 rpr parallel manipulators
    Journal of Mechanical Design, 2007
    Co-Authors: Philippe Wenger, Damien Chablat, Mazen Zein
    Abstract:

    This paper investigates two situations in which the Forward Kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises when the three input joint variables ρ1, ρ2, and ρ3 satisfy a certain relationship. This degeneracy yields a double root of the characteristic polynomial in t=tan(φ∕2), which could be erroneously interpreted as two coalesce assembly modes. However, unlike what arises in nondegenerate cases, this double root yields two sets of solutions for the position coordinates (x,y) of the platform. In the second situation, we show that the Forward Kinematics degenerates over the whole joint space if the base and platform triangles are congruent and the platform triangle is rotated by 180deg about one of its sides. For these “degenerate” manipulators, which are defined here for the first time, the Forward Kinematics is reduced to the solution of a third-degree polynomial and a quadratic in sequence. Such manipulators constitute, in turn, a new family of analytic planar manipulators that would be more suitable for industrial applications.

  • degeneracy study of the Forward Kinematics of planar 3 rpr parallel manipulators
    arXiv: Robotics, 2007
    Co-Authors: Philippe Wenger, Damien Chablat, Mazen Zein
    Abstract:

    This paper investigates two situations in which the Forward Kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises when the three input joint variables r1, r2 and r3 satisfy a certain relationship. This degeneracy yields a double root of the characteristic polynomial in t, which could be erroneously interpreted as two coalesce assembly modes. But, unlike what arises in non-degenerate cases, this double root yields two sets of solutions for the position coordinates (x, y) of the platform. In the second situation, we show that the Forward Kinematics degenerates over the whole joint space if the base and platform triangles are congruent and the platform triangle is rotated by 180 deg about one of its sides. For these "degenerate" manipulators, which are defined here for the first time, the Forward Kinematics is reduced to the solution of a 3rd-degree polynomial and a quadratics in sequence. Such manipulators constitute, in turn, a new family of analytic planar manipulators that would be more suitable for industrial applications.

  • Degeneracy Study of the Forward Kinematics of Planar 3-RP̱R Parallel Manipulators
    Journal of Mechanical Design, 2006
    Co-Authors: Philippe Wenger, Damien Chablat, Mazen Zein
    Abstract:

    This paper investigates two situations in which the Forward Kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises when the three input joint variables ρ1, ρ2, and ρ3 satisfy a certain relationship. This degeneracy yields a double root of the characteristic polynomial in t=tan(φ∕2), which could be erroneously interpreted as two coalesce assembly modes. However, unlike what arises in nondegenerate cases, this double root yields two sets of solutions for the position coordinates (x,y) of the platform. In the second situation, we show that the Forward Kinematics degenerates over the whole joint space if the base and platform triangles are congruent and the platform triangle is rotated by 180deg about one of its sides. For these “degenerate” manipulators, which are defined here for the first time, the Forward Kinematics is reduced to the solution of a third-degree polynomial and a quadratic in sequence. Such manipulators constitute, in turn, a new family of analytic planar manipulators that would be more suitable for industrial applications.

Dong-soo Kwon - One of the best experts on this subject based on the ideXlab platform.

  • Geometric formulation approach for determining the actual solution of the Forward Kinematics of 6-DOF parallel manipulators
    IEEE RSJ International Conference on Intelligent Robots and Systems, 2002
    Co-Authors: Se-kyong Song, Dong-soo Kwon
    Abstract:

    This paper presents a new formulation approach for determining the actual solution of the Forward Kinematics of 6-DOF parallel manipulators. We show that a geometric structure of the 3-6 platform with a 3-2-1 type that has a unique closed form solution provides a useful guideline for formulating the Forward Kinematics of 6-DOF parallel manipulators and for determining their actual solution. We use the tetrahedron geometry to find the actual solution. The formulation approach is simple and effective for determining the actual solution of many 6-DOF parallel manipulators.

  • IROS - Efficient formulation approach for the Forward Kinematics of the 3-6 Stewart-Gough Platform
    Proceedings 2001 IEEE RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millenni, 2001
    Co-Authors: Se-kyong Song, Dong-soo Kwon
    Abstract:

    Presents an approach to reduce the computational burden of solving the Forward Kinematics of the 3-6 (Stewart-Gough) Platform. The conventional Forward Kinematics has been formulated with trigonometric functions through many complicated steps. Based on tetrahedron geometry, the proposed formulation approach can allow intuitive derivation of the Forward Kinematics and considerable abbreviation of the number of calculations involved in the three constraint equations that must be calculated in the process of the Forward Kinematics. Consequently, the proposed formulation approach greatly reduces the computational burden. The feasibility and convergence of the formulation approach has been verified through a series of simulation results.

  • New methodology for the Forward Kinematics of 6-DOF parallel manipulators using tetrahedron configurations
    Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001
    Co-Authors: Se-kyong Song, Dong-soo Kwon
    Abstract:

    This paper presents a new methodology of using tetrahedron configurations to determine the Forward Kinematics of 6-DOF parallel manipulators. The approach is introduced in a form of the tetrahedron proposition and theorem using the special characteristics tetrahedral geometry which are then applied to obtaining the kinematic solutions of two 6-DOF parallel manipulators such as those previously introduced by Hunt-Primrose (1993) and by the authors (2000). The proposed methodology has the advantage in greatly reducing the complexity of formulation and computational burden required by conventional methods for solving the Forward Kinematics. As a result, the methodology allows a significant simplification in the formulations and provides an easier means of obtaining the solution.

  • Efficient formulation approach for the Forward Kinematics of the 3-6 Stewart-Gough Platform
    Proceedings 2001 IEEE RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millenni, 2001
    Co-Authors: Se-kyong Song, Dong-soo Kwon
    Abstract:

    Presents an approach to reduce the computational burden of solving the Forward Kinematics of the 3-6 (Stewart-Gough) Platform. The conventional Forward Kinematics has been formulated with trigonometric functions through many complicated steps. Based on tetrahedron geometry, the proposed formulation approach can allow intuitive derivation of the Forward Kinematics and considerable abbreviation of the number of calculations involved in the three constraint equations that must be calculated in the process of the Forward Kinematics. Consequently, the proposed formulation approach greatly reduces the computational burden. The feasibility and convergence of the formulation approach has been verified through a series of simulation results.

John H Maddocks - One of the best experts on this subject based on the ideXlab platform.

  • on the Forward Kinematics of parallel manipulators
    The International Journal of Robotics Research, 1994
    Co-Authors: R Nair, John H Maddocks
    Abstract:

    In this article we present a novel procedure for the system atic analysis of the Forward Kinematics of a class of parallel manipulators that generalize the well-known Stewart plat form. The designs comprise a movable platform connected to a fixed base by a set of legs, the lengths of which can be con trolled. The legs are connected to the base and the platform by unactuated spherical joints. The Forward Kinematics prob lem is to determine all possible manipulator configurations (i.e., all possible positions and orientations of the platform) when a set of leg lengths is prescribed. The new formulation of the Forward Kinematics problem is general in the sense that it can, in principle, be applied to any manipulator design (i.e., to any fixed geometry of base and platform joints, with associated leg connectivities). One interesting aspect of our procedure is that it splits the Forward Kinematics problem into two parts, the first being a simple, design-dependent, inversion of a linear system of equations, and...

Xinjie Wang - One of the best experts on this subject based on the ideXlab platform.

  • Computer Aided Geometric Method of Forward Kinematics Analysis of Multi-Legged Walking Robots
    Advanced Materials Research, 2011
    Co-Authors: Liang Wen Wang, Wei Gang Tang, Xinjie Wang, Xue Wen Chen
    Abstract:

    The high order equation causing by analytic method in multi-legged robot Forward Kinematics analysis may have imaginary root, repeated root, extraneous root or even lost solution. A system based on the theory of computer aided geometric method is proposed. Consideration with the internal structural constraint relations of multi-legged walking robots, the solidworks model was constructed and Visual Basic develop platform was adopted to fulfill the secondary development of solidworks. A system of Forward Kinematics analysis of multi-legged walking robots is established. The example validates that the system is simple and effective for all reptiles-like quadruped walking robot.

  • Forward Kinematics Analysis and 3-Dimmision Gait Simulation of a MiniQuad Walking Robot
    2007 International Conference on Mechatronics and Automation, 2007
    Co-Authors: Xinjie Wang, Xuedong Chen, Huayan Pu
    Abstract:

    Kinematics analysis is essential for robotic design and control. The Forward Kinematics of a multilegged walking robot is very complicated due to its complex mechanism and redundant actuation. In this paper, the Forward Kinematics of reptile-like multilegged robots is analyzed by considering the basic walking pattern with three supporting legs. The redundant joint variables are first derived and expressed in terms of the independent joint variables. Based on the redundant actuation analysis, the Forward position, velocity, and acceleration are derived. The resultant formulas are verified through a numerical example and a simulation on a multilegged walking robot MiniQuad-I.