Topic
Six degrees of freedom
About: Six degrees of freedom is a research topic. Over the lifetime, 2494 publications have been published within this topic receiving 38834 citations. The topic is also known as: 6DoF.
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01 Jun 1965
TL;DR: In this article, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
Abstract: This paper describes a mechanism which has six degrees of freedom, controlled in any combination by six motors, each having a ground abutment. It is considered that by its particular arrangement, this mechanism may form an elegant design for simulating flight conditions in the training of pilots. Unlike most simulators, it has no fixed axes relative to the ground, and therefore within the limits of amplitude of the design it can truly simulate the conditions of banking by carrying the simulation of control surfaces into the axes of the new attitude.Variations in control arrangements are described and their respective design merits considered.Other possible uses for this mechanism are mentioned, including automation of production.
2,341 citations
TL;DR: In this paper, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
Abstract: This paper describes a mechanism which has six degrees of freedom, controlled in any combination by six motors, each having a ground abutment. It is considered that by its particular arrangement, this mechanism may form an elegant design for simulating flight conditions in the training of pilots. Unlike most simulators, it has no fixed axes relative to the ground, and therefore within the limits of amplitude of the design it can truly simulate the conditions of banking by carrying the simulation of control surfaces into the axes of the new attitude. Variations in control arrangements are described and their respective design merits considered. Other possible uses for this mechanism are mentioned including automation of production.
839 citations
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TL;DR: A revolutionary new type of robot crane, the NIST ROBOCRANE, has been developed that can control the position, velocity, and force of tools and heavy machinery in all six degrees of freedom.
Abstract: The Robot Systems Division of the National Institute of Standards and Technology (NIST) has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart platform parallel link manipulator. The unique feature of the NIST approach is to use cables as the parallel links and to use winches as the actuators. As long as the cables are all in tension, the load is kinematically constrained and the cables resist perturbing forces and moments with equal stiffness to both positive and negative loads. The result is that the suspended load is constrained with a mechanical stiffness determined by the elasticity of the cables, the suspended weight, and the geometry of the mechanism. Based on these concepts, a revolutionary new type of robot crane, the NIST ROBOCRANE, has been developed that can control the position, velocity, and force of tools and heavy machinery in all six degrees of freedom (x, y, z, roll, pitch, and yaw). Depending on what is suspended from its work platform, the ROBOCRANE can perform a variety of tasks. Examples are: cutting, excavating and grading, shaping and finishing, lifting, and positioning. A 6-m version of the ROBOCRANE has been built and critical performance characteristics analyzed.
606 citations
TL;DR: The paper describes an approach and an integrated robot system for semantic mapping and explains the respective steps and their underlying algorithms, gives examples based on a working robot implementation, and discusses the findings.
461 citations
Journal Article•
[...]
TL;DR: The human body is a complicated machine whose movements involve many different joints, operated by a great many muscles as discussed by the authors, and it is easy to get bogged down in detail when thinking about walking and running from a mathematical point of view.
Abstract: The human body is a complicated machine whose movements involve many different joints, operated by a great many muscles. For that reason it is easy to get bogged down in detail when thinking about walking and running from a mathematical point of view. Any position of the human body (or of any other jointed mechanism) can be described by giving the angles of joints. The number of angles needed for an unambiguous description is the number of degrees of freedom of the mechanism. For example, the position of a hinge joint is described by just one angle: a hinge allows only one degree of freedom. The human knee is a hinge. The ankle, however, allows rotation about two axes – you can tilt your foot toes up or toes down, and you can also rock it sideways so that the sole faces inwards towards the other foot – so it gives two degrees of freedom. The hip is a ball and socket joint allowing rotation about any axis through the centre of the ball, but any position can be described by just three angles (measured, for example, in three planes at right angles to each other), so it allows three degrees of freedom. In total, there are six degrees of freedom in each leg, making twelve in all, and suggesting that we need twelve equations of motion to describe walking. If we took account of the flexibility of the foot and the movements of the arms, we would need more.
440 citations