Sökning: "Kinematics Redundancy"

Hittade 3 uppsatser innehållade orden Kinematics Redundancy.

  1. 1. 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

  3. 2. Kinematic Motion Planning for a 7-AxisRobotic Arm (LWA70 by Schunk)

    Master-uppsats, Umeå universitet/Institutionen för tillämpad fysik och elektronik

    Författare :Shehab Mohammed; [2016]
    Nyckelord :Robotics; Manipulator; Kinematics; Redundancy; Self-motion; Trajectory;

    Sammanfattning : Redundant manipulators are widely used because they have a greater dexterity andversatility than nonredundant manipulators. In the redundant manipulators, thenumber of degrees of freedom are more than the required to manipulate objects atthe task space, which leads to a possibility to generate infinite number of solutions. LÄS MER

  4. 3. Manikin Time; Development of the Virtual Manikin with External Root and Improved Inverse Kinematics

    Master-uppsats, Göteborgs universitet/Institutionen för matematiska vetenskaper

    Författare :Niclas Delfs; [2012-05-10]
    Nyckelord :Advanced Biomechanical Models; Inverse Kinematics; Optimization Algorithms;

    Sammanfattning : Simulating manual assembly operations considering ergonomic load and clearance demands requires detailed modeling of human body kinematics and motions, as well as a tight coupling to powerful algorithms for collision-free path planning. The focus in this thesis is kinematics including balance and contact forces, and ergonomically preferable motions in free space. LÄS MER