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Showing papers on "Kinematics published in 1994"


Book
22 Mar 1994
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

6,592 citations



Journal ArticleDOI
01 Jun 1994
TL;DR: This paper presents novel and efficient kinematic modeling techniques for "hyper-redundant" robots based on a "backbone curve" that captures the robot's macroscopic geometric features and introduces a "modal" approach, in which a set of intrinsic backbone curve shape functions are restricted to a modal form.
Abstract: This paper presents novel and efficient kinematic modeling techniques for "hyper-redundant" robots. This approach is based on a "backbone curve" that captures the robot's macroscopic geometric features. The inverse kinematic, or "hyper-redundancy resolution," problem reduces to determining the time varying backbone curve behavior. To efficiently solve the inverse kinematics problem, the authors introduce a "modal" approach, in which a set of intrinsic backbone curve shape functions are restricted to a modal form. The singularities of the modal approach, modal non-degeneracy conditions, and modal switching are considered. For discretely segmented morphologies, the authors introduce "fitting" algorithms that determine the actuator displacements that cause the discrete manipulator to adhere to the backbone curve. These techniques are demonstrated with planar and spatial mechanism examples. They have also been implemented on a 30 degree-of-freedom robot prototype. >

532 citations


Journal ArticleDOI
TL;DR: Two solution procedures that cast the impact equations in differential and algebraic forms are developed to solve the rigid body collisions of planar kine matic chains with an external surface while in contact with other surfaces.
Abstract: This article deals with the rigid body collisions of planar, kinematic chains with an external surface while in contact with other surfaces. Two solution procedures that cast the impact equations in dierential and algebraic forms are developed to solve the general problem. The dierential formulation can be used to obtain three sets of solutions based on the kinematic, kinetic, and the energetic denitions of the coecient of restitution. Whereas the algebraic formulation can be used to obtain solutions based on the approaches presented in Whittaker (1904) and Brach (1990). A specic example of a planar, three-link chain with two contact points is studied to compare the outcomes predicted by each approach. A particular emphasis is placed on the energy loss that results from the application of each solution scheme. The circumstances where various methods lead to identical or distinct outcomes are investigated. Most importantly, the study elaborates on the rebounds at the non-colliding ends, a phenomenon that is observed only in multi-contact collisions. The interaction of the chain with the contact surfaces at the non-colliding contact points is examined and the dierences in the prediction of rebounds that arise from using various methods are investigated.

384 citations


Proceedings ArticleDOI
08 May 1994
TL;DR: This paper presents some results obtained in the development of a three-degree-of-freedom camera-orienting device, which is capable of an orientation workspace larger than that of the human eye and leads to high-performance dynamics.
Abstract: This paper presents some results obtained in the development of a three-degree-of-freedom camera-orienting device. The agile eye, as it is referred to, is capable of an orientation workspace larger than that of the human eye. The miniature camera mounted on the end-effector can be pointed within a cone of 140 degrees opening with plus or minus 30 degrees in torsion. The mechanical architecture of the orienting device is based on a spherical three-degree-of-freedom parallel manipulator which leads to high-performance dynamics. A kinematic optimization has been performed in order to determine the dimensional parameters of the prototype which would provide the best overall accuracy. A complete dynamical model of the manipulator has also been derived and programmed, and simulation results have guided the mechanical design. Finally, a prototype has been built and experimented with. >

367 citations


Journal ArticleDOI
TL;DR: The model provides good insight into the mechanics of the shoulder mechanism and enables an analysis of the function of morphological structures and it is concluded that EMG amplitude cannot be used for validation of complex musculoskeletal models.

308 citations


Journal ArticleDOI
01 Oct 1994
TL;DR: An algorithm and implementation for efficient inverse kinematics for a general six-revolute (6R) manipulator that makes use of the algebraic properties and symbolic formulation used for reducing the problem to solving a univariate polynomial.
Abstract: In this paper, we present an algorithm and implementation for efficient inverse kinematics for a general six-revolute (6R) manipulator. When stated mathematically, the problem reduces to solving a system of multivariate equations. We make use of the algebraic properties of the system and the symbolic formulation used for reducing the problem to solving a univariate polynomial. However, the polynomial is expressed as a matrix determinant and its roots are computed by reducing to an eigenvalue problem. The other roots of the multivariate system are obtained by computing eigenvectors and substitution. The algorithm involves symbolic preprocessing, matrix computations and a variety of other numerical techniques. The average running time of the algorithm, for most cases, is 11 milliseconds on an IBM RS/6000 workstation. This approach is applicable to inverse kinematics of all serial manipulators. >

283 citations


Journal ArticleDOI
TL;DR: Experimental results on the implementation of the damped least-squares method for the six-joint ABB IRb2000 industrial robot manipulator are presented and a number of inverse kinematics schemes are reviewed which allow robot control through kinematic singularities.
Abstract: The goal of this paper is to present experimental results on the implementation of the damped least-squares method for the six-joint ABB IRb2000 industrial robot manipulator. A number of inverse kinematics schemes are reviewed which allow robot control through kinematic singularities. The basic scheme adopts a damped least-squares inverse of the manipulator Jacobian with a varying damping factor acting in the neighborhood of singularities. The effect of a weighted damped least-squares solution is investigated to provide user-defined accuracy capabilities along prescribed end-effector space directions. An online estimation algorithm is employed to measure closeness to singular configurations. A feedback correction error term is introduced to ensure algorithm tracking convergence and its effect on the joint velocity solution is discussed. Computational aspects are discussed in view of real-time implementation of the proposed schemes. Experimental case studies are developed to investigate manipulator performance in the case of critical end-effector trajectories passing through and near the shoulder and wrist singularities of the structure. >

258 citations


Journal ArticleDOI
TL;DR: It is concluded that this optimization method provides the opportunity to incorporate inter-individual anatomical differences into kinematic and dynamic analysis of the ankle joint complex, and allows a more functional interpretation of kinematics data, and more realistic estimates of internal forces.

202 citations


Journal ArticleDOI
TL;DR: The relationship between the position of a body's center of gravity (CG) as determined by a whole body kinematic model and that given by 3 CG position estimation techniques using the ground reaction force center of pressure (CP) has been investigated in this article.
Abstract: The relationship between the position of a body's center of gravity (CG) as determined by a whole body kinematic model and that given by 3 CG position estimation techniques using the ground reaction force center of pressure (CP) has been investigated in this study. The CG and CP are related by the Newtonian mechanics equations of motion. Data required to determine directly the center of gravity position, a key variable in posture and locomotion, are usually not obtained in posture or gait trials; rather, force plate data and center of pressure data are often obtained. Consequently, previous studies have developed estimations of CG position history from CP data. The results of 3 CP-based CG estimations methods are here compared with kinematically determined CG positions in humans. The CP position varies about the CG position and has a higher frequency content than the motion of the CG. This observation, based on the authors' data and mechanics theory, provides the basis for the methods considered in this study. All current methods employ a filtering technique to obtain CG position from CP position time histories during standing trials. In most cases the mean square error is less than 0.1 cm/sup 2/. Finite-duration impulse response filters with periods of 1.0 s to 1.50 s gave the best results when compared with the CG position based on kinematic data. A low-pass filter with cutoff frequency of 0.4 Hz to 0.5 Hz provides the best comparison for this approximation method. The accuracy of the methods diminishes as more dynamics are introduced to the trial. The average mean square differences for walking-in-place trials is from 1 to 10 times greater than that for the standing. CG position estimates from CP data must be interpreted cautiously when nonstatic tasks are monitored, especially in unstable patients. >

192 citations


Journal ArticleDOI
TL;DR: A broad definition of "proprioception" is adopted, which includes all somatosensory information related to joint posture and kinematics, which indicates that the CNS is able to extract the necessary kinematic information from proprioceptive input to trigger the hand opening at the correct elbow position.
Abstract: 1. Recent studies have shown that the CNS uses proprioceptive information to coordinate multijoint movement sequences; proprioceptive input related to the kinematics of one joint rotation in a move...

Journal ArticleDOI
TL;DR: It is shown that the functional associated with harmonic mapping theory provides a natural measure of the kinematic dexterity of a mechan ism, and optimal designs among the basic classes of mechanisms are determined as extrema of this measure.
Abstract: In this article we develop a mathematical theory for optimizing the kinematic dexterity of robotic mechanisms and obtain a collection of analytical tools for robot design. The performance criteria we consider are workspace volume and dexterity; by the latter we mean the ability to move and apply forces in arbitrary directions as easily as possible. Clearly, dexterity and workspace volume are intrinsic to a mechanism, so that any mathematical formulation of these properties must necessarily be independent of the particular coordinate representation of the kinematics.By regarding the forward kinematics of a mechanism as defining a mapping between Riemannian manifolds, we apply the coordinate-free language of differential geometry to define natural measures of kinematic dexterity and workspace volume. This approach takes into account the geometric and topolog ical structures of the joint and workspaces. We show that the functional associated with harmonic mapping theory provides a natural measure of the kine...

Patent
22 Jul 1994
TL;DR: In this article, the authors present a method for simulating a multibody system on a computer, where the user can interactively input a change to the multi-body system into the computer and graphically display a result of the change.
Abstract: Method and apparatus for simulating a multibody system on a computer. The invention provides for inputting into the computer a mathematical description of each body in the multibody system, specifying into the computer a force to act on one of the bodies, formulating a Jacobian matrix, solving kinematics constraints in the computer, graphically displaying a result of the solution of the kinematic constraints from the computer onto an electronic display, whereupon the user can interactively input a change to the multibody system into the computer and graphically display a result of the change to the multibody system from the computer.

Journal ArticleDOI
TL;DR: The results indicate that the three-dimensional kinematic method developed can successfully determine the individual contributions that the different anatomical rotational velocities of the arm segments make to the measured instantaneous racquet-head speed.

Journal ArticleDOI
01 Feb 1994
TL;DR: In this paper, physical constraints are considered in the general formulation of the redundant inverse kinematic problem and the computationally efficient compact quadratic programming (QP) method is formed to resolve the constrained kinematics redundancy problem.
Abstract: Due to hardware limitations, physical constraints such as joint rate bounds, joint angle limits, and joint torque constraints always exist. In this paper, these constraints are considered in the general formulation of the redundant inverse kinematic problem. To take these physical constraints into account, the computationally efficient compact quadratic programming (QP) method is formed to resolve the constrained kinematic redundancy problem. In addition, the compact-inverse QP method is also formulated to remedy the inescapable singularity problem with inequality constraints. Two examples are given to demonstrate the generality and superiority of these two methods: to eliminate the drift phenomenon caused by self motion and to remedy saturation-type nonlinearity problems. >

Journal ArticleDOI
TL;DR: Evidence is interpreted that when natural prehension occurs, pronation can be included in the motor plan without affecting the movement kinematics, when constraints are imposed on the movement execution as a consequence of a perturbation.
Abstract: Two experiments are reported that examined the act of prehension when subjects were asked to grasp with their thumb and index finger pads an elongated object resting horizontally on a surface and placed at different orientations with respect to the subject. In Experiment 1, the pad opposition preferences were determined for the six angles of orientation examined. For angles of 90 degrees (object parallel to frontal plane) or less, no rotation of the wrist (pronation) was used; for angles 110 degrees or greater, pronation was systematically employed to reorient the finger opposition space. Only one angle, 100 degrees , produced any evidence of ambiguity in how to grasp the object: Approximately 60% of these grasps involved pronation and 40% did not. Using the foregoing grasp preference data, in Experiment 2 we examined the kinematics of the wrist and elbow trajectories during prehension movements directed at an object in different orientations. Movement time, time to peak acceleration, velocity, and deceleration were measured. No kinematic differences were observed when the object orientation either required (110 degrees ) or did not require (80 degrees ) a pronation. By contrast, if the orientation was changed at the onset of the movement, such that an unpredicted pronation had to be introduced to achieve the grasp, kinematics were affected: Movement time was increased, and the time devoted to deceleration was lengthened. These data are interpreted as evidence that when natural prehension occurs, pronation can be included in the motor plan without affecting the movement kinematics. When constraints are imposed on the movement execution as a consequence of a perturbation, however, the introduction of a pronation component requires kinematic rearrangement.

Journal ArticleDOI
TL;DR: This paper presents a new method for estimating muscular force and activation from experimental kinematic data that combines conventional inverse dynamics with optimization utilizing a dynamic muscle model and uses only very limited computational power.

Journal ArticleDOI
TL;DR: Various simple, planar models relating the instantaneous, 2-D centre of rotation with the geometry and kinematics of a multi-joint neck model are derived, in order to gauge the utility of the FHA and IHA approaches.

Journal ArticleDOI
TL;DR: It was concluded that there was evidence for mechanical, biomechanical and muscular mechanisms in the women's long jump final of the World Student Games held in Sheffield, UK in July 1991.
Abstract: This study was concerned with the measurement of performance variables from competitors in the men's long jump final of the World Student Games held in Sheffield, England, in July 1991. Several performances of 10 finalists were recorded on cine film at 100 Hz. Resulting sagittal plane kinematic data were obtained for the last stride, touchdown, and takeoff for a total of 27 jumps. It was confirmed that takeoff velocity was a function of touchdown velocity, and that there was an increase in vertical velocity at the expense of a reduction of horizontal velocity. It was concluded that there was evidence for mechanisms which may be termed mechanical, biomechanical, and muscular. The former relates to the generation of vertical velocity by the body pivoting over the base of support during the compression phase, and a lifting of the arms and free leg during the lift phase; the second is the elastic reutilization of energy; and the third is the contribution by concentric muscular contraction.


Proceedings ArticleDOI
08 May 1994
TL;DR: A method is presented for autonomous kinematic calibration of a 3-DOF redundant parallel robot and Experimental results are presented and compared with the results using an external calibration device.
Abstract: A method is presented for autonomous kinematic calibration of a 3-DOF redundant parallel robot. Multiple closed loops are used in a least squares optimization method. Ill-conditioning, column scaling of the gradient matrix, and observability indices for the best pose set of robot calibration configurations are discussed. Experimental results are presented and compared with the results using an external calibration device. >

Journal ArticleDOI
TL;DR: A formal proof of the aforementioned conjecture is derived using Sturm's theorem and a robust computational scheme is given for the direct kinematics of planar three-degree-of-freedom parallel manipulators.

Proceedings ArticleDOI
08 May 1994
TL;DR: This paper presents a new generalized approach to the singularity analysis of a general mechanism (arbitrary kinematic chain), considered as a non-redundant input-output device with equal number of inputs and outputs, and proposes six types of singular configurations.
Abstract: This paper presents a new generalized approach to the singularity analysis of a general mechanism (arbitrary kinematic chain), considered as a non-redundant input-output device with equal number of inputs and outputs. The instantaneous kinematics of a mechanism is described by means of a velocity equation, explicitly including not only the input and output velocities but also the passive-joint velocities. A precise definition of singularity of a general mechanism is provided. On the basis of the six types of singular configurations introduced in the paper singularity classifications are proposed. >

Journal ArticleDOI
TL;DR: In this article, a comparison of path of motion and range of motion revealed a high correlation for abduction and adduction and plantarflexion and dorsiflexion, which is associated with the decrease in muscle strength with increasing age.


Journal ArticleDOI
TL;DR: In this paper, a new class of globally asymptotically stabilizing feedback control laws for the complete (i.e., dynamics and kinematics) attitude motion of a rotating rigid body is given in terms of two new parameterizations of the rotation group derived using stereographic projection.

Journal ArticleDOI
TL;DR: In this article, two parameter identification methods for inertial parameters of the unknown object handled by manipulators on a free-flying space robot are proposed under the condition that the robot is free to translate and rotate.
Abstract: This paper is concerned with parameter identification methods for inertial parameters of the unknown object handled by manipulators on a free-flying space robot. The parameter identification is necessary for precise control because the payload changes the kinematics of the system together with the dynamics. Two methods are proposed under the condition that the robot is free to translate and rotate. One method is based on the conservation principle of linear and angular momentum and the other on Newton-Euler equations of motion. Only the linear/ angular velocities and accelerations of the satellite base are used in the identification methods with no information about the force and torque utilized. The feasibility of the methods is demonstrated by a hardware experiment on the ground as well as numerical simulation.

Journal ArticleDOI
TL;DR: An algorithm to solve the inverse dynamics of the proposed parallel manipulator using a Lagrangian technique and it is found that one should introduce and subsequently eliminate Lagrange multipliers to arrive at the governing equations.
Abstract: Presented is an analysis of the kinematics and the inverse dynamics of a proposed three degree of freedom (dof) parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity, and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangian technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline. © 1994 John Wiley & Sons, Inc.

Proceedings ArticleDOI
08 May 1994
TL;DR: This nonholonomic planner employs a direct projection strategy to modify online the output of a holonomic incremental planner, and generates velocity control inputs that realize the desired motion in a least-squares sense.
Abstract: We present a simple approach for planning the motion of nonholonomic robots among obstacles. Existing methods lead to open-loop solutions which are either obtained in two stages, approximating a previously built holonomic path, or computationally intensive, being based on configuration space discretization. Our nonholonomic planner employs a direct projection strategy to modify online the output of a holonomic incremental planner, and generates velocity control inputs that realize the desired motion in a least-squares sense. As a result, a feedback scheme is obtained which can use only local sensor information. The proposed approach is applied to unicycle kinematics, with artificial potential fields or vortex fields as local holonomic planners. >

Journal ArticleDOI
TL;DR: A very general model for the effects of geometric errors of the components of the kinematic chain (structural members and axes) of a machine on the volumetric errors in the work space is discussed.
Abstract: Quasistatic error sources, which include thermal, mechanical loading and geometric error sources, are responsible for a very large proportion (typically, 70%) of the volumetric errors of a numerically controlled machine-tool This paper, the first in a set of three, discusses the development of a very general model for the effects of geometric errors of the components of the kinematic chain (structural members and axes) of a machine on the volumetric errors in the work space The effects of the other two sources are modeled as changes in the geometric error The generality of the model arises from the fact that the errors along an axis of the machine can be characterized by any polynomial functions and the model is recursive in the order of these polynomials This model can be used as the basis of a compensation scheme as well as in budgeting of errors on a machine-tool