Sökning: "Forward Kinematics"

Visar resultat 1 - 5 av 21 uppsatser innehållade orden Forward Kinematics.

  1. 1. Tic-Tac-Toe Robot : Automated Tic-Tac-Toe Game With Robotic Control

    Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :Emil Takman; Pontus Rastman; [2023]
    Nyckelord :Mechatronics; Robotic Arm; Color Recognition; Tic-Tac-Toe; Mekatronik; Robotarm; Färgigenkänning; Tre-i-rad;

    Sammanfattning : This thesis covers the design, construction and programming of an automated tic-tac-toe game with robotic control and image processing. Research shows that robotic systems, over time, have transitioned from manufacturing tools to service tools with a large focus on human interaction, a central aspect- of this project. LÄS MER

  3. 2. Digital Model of a Mining Stacker for Material Tracking : Modelling a Mining Stacker with Forward Kinematics for Material Tracking

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Livia Maria Waller; [2023]
    Nyckelord :Mining; Material tracking; Bucket wheel stacker; Gruvteknik; Materialspårning; Skovelhjulsstaplar;

    Sammanfattning : The Fourth Industrial Revolution is reshaping the manufacturing industry with the emergence of interconnectivity, smart automation, and cyber-physical systems. A popular example of cyber-physical systems is the digital twin or digital model, which both create a virtual (cyber) representation of a system. LÄS MER

  4. 3. Design, Modeling, and Testing of a Force Feedback Haptic Device for Simulated Robot Interaction

    Master-uppsats, Linköpings universitet/Institutionen för systemteknik

    Författare :Patrik Lindström; [2023]
    Nyckelord :Force Feedback; Impedance Control; PD-gain; Dynamic Behavior; Closed-chain; Master-Slave; Parallel Manipulator; Kinematics Redundancy; Mass-Spring-Damper; Position Control; Current Control; Modeling; Design; Joints; Delta robot; Differential Equations; External Torques; Kinematics; Forward Kinematics; Inverse Kinematics; Dynamic Matrices; Jacobian; URDF; Haptics; Haptic Device; Solidworks; CAD; Maxon Motors; EtherCAT; Beckhoff;

    Sammanfattning : Haptic feedback is a growing phenomenon that incorporates the sense of touch through tactile sensations such as vibrations, electrical signals, air pressure, and sound waves or through force feedback, which employs torques and/or forces to replicate the pressure and weight of a simulated object. Utilizing haptic technology establishes a communication bridge between the user and the technical component, enhancing the user's understanding of the technical component's surroundings. LÄS MER

  5. 4. Comparative Analysis of the Inverse Kinematics of a 6-DOF Manipulator : A Comparative Study of Inverse Kinematics for the 6-DOF Saab Seaeye eM1-7 Manipulator with Non-Conventional Wrist Configuration

    Master-uppsats, Linköpings universitet/Reglerteknik

    Författare :Anton Larsson; Oskar Grönlund; [2023]
    Nyckelord :;

    Sammanfattning : This report presents various methods for solving the inverse kinematic problem for a non-conventional robotic manipulator with 6 degrees of freedom and discusses their respective advantages and disadvantages. Numerical methods, such as gradient descent, Gauss-Newton and Levenberg-Marquardt as well as heuristic methods such as Cyclic Coordinate Descent and Forward and Backward Reaching Inverse Kinematics are discussed and presented, while the numerical methods are implemented and tested in simulation. LÄS MER

  7. 5. Most efficient Inverse Kinematics algorithm for Quadruped models : Comparing FABRIK to CCD

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Matilda Richardsson; [2022]
    Nyckelord :Inverse Kinematics; FABRIK; CCD; Quadrupeds; Computer Graphics;

    Sammanfattning : This paper compares the two heuristic inverse kinematics methods: Forward And Backward Reaching Inverse Kinematics (FABRIK) and Cyclic Coordinate Descent (CCD) in the use cases concerning quadruped models. Unoptimised versions of the two algorithms were implemented into a game engine and evaluated on a quadruped model. LÄS MER