Neural network-based construction of inverse kinematics model for serial redundant manipulators
Sign Up to like & getrecommendations! Published in 2019 at "Artificial Life and Robotics"
DOI: 10.1007/s10015-019-00552-y
Abstract: Solving the inverse kinematics of redundant manipulators is difficult, because knowledge of the manipulators and their evaluation functions is required. To solve this problem, we propose a novel method of enabling a neural network model… read more here.
Keywords: network based; inverse kinematics; kinematics; neural network ... See more keywords
A modified modal method for solving the mission-oriented inverse kinematics of hyper-redundant space manipulators for on-orbit servicing
Sign Up to like & getrecommendations! Published in 2017 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2017.06.015
Abstract: Abstract A hyper-redundant space manipulator has extreme flexibility and is suitable to work in highly cluttered or multi-obstacles environment. However, its inverse kinematics is very challenging due to a large number of degrees of freedom… read more here.
Keywords: inverse kinematics; redundant space; kinematics; manipulator ... See more keywords
Neural Network Model for Identifying Workspace, Forward and Inverse Kinematics of the 7-DOF YuMi 14000 ABB Collaborative Robot
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.10.019
Abstract: Abstract This research investigates development of a visual and analytical tool for the study of the seven degree of freedom (7-DOF) ABB 14000 YuMi robot. It provides an understanding of the manipulator workspace regions where… read more here.
Keywords: inverse kinematics; forward inverse; workspace; kinematics ... See more keywords
A novel inverse kinematics method for 6-DOF robots with non-spherical wrist
Sign Up to like & getrecommendations! Published in 2021 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.104180
Abstract: Abstract A novel numerical method is proposed to solve the inverse kinematics for 6-DOF robots with non-spherical wrist in this paper, which firstly simplifies the non-spherical wrist structure to a spherical one. In each iteration… read more here.
Keywords: inverse kinematics; dof robots; spherical wrist; kinematics ... See more keywords
Inverse kinematics for a novel hybrid parallelserial five-axis machine tool
Sign Up to like & getrecommendations! Published in 2018 at "Robotics and Computer-integrated Manufacturing"
DOI: 10.1016/j.rcim.2017.09.002
Abstract: A unique successful postprocessor for a hybrid parallel-serial machine tool is developed.Smart machining must be accomplished without forcing the tool to make sharp turns when HSM controls detect a turn approaching.NC codes are recalculated to… read more here.
Keywords: machine tool; five axis; kinematics; inverse kinematics ... See more keywords
Inverse kinematics of redundant manipulators with guaranteed performance
Sign Up to like & getrecommendations! Published in 2021 at "Robotica"
DOI: 10.1017/s026357472100045x
Abstract: Abstract In this paper, the inverse kinematics (IK) of redundant manipulators is presented and studied, where the performance of end-effector path planning is guaranteed. A new Jacobian pseudoinverse (JP)-based IK method is proposed and studied… read more here.
Keywords: performance; redundant manipulators; kinematics redundant; inverse kinematics ... See more keywords
Inverse kinematics strategies for physical human-robot interaction using low-impedance passive link shells
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574722001102
Abstract: Abstract This paper presents an investigation of the effectiveness of different inverse kinematics strategies in a context of physical human-robot interaction in which passive articulated shells are mounted on the links of a serial robot… read more here.
Keywords: interaction; kinematics; inverse kinematics; link shells ... See more keywords
Fast and robust numerical method for inverse kinematics with prioritized multiple targets for redundant robots
Sign Up to like & getrecommendations! Published in 2020 at "Advanced Robotics"
DOI: 10.1080/01691864.2020.1780151
Abstract: In this paper, a new numerical method for inverse kinematics with prioritized multiple targets is proposed. The proposed method is constructed based on the virtual spring model and joint-based damping control. The targets are prioritized… read more here.
Keywords: numerical method; method inverse; inverse kinematics; method ... See more keywords
Inverse-kinematics proton scattering from S42,44, P41,43 , and the collapse of the N=28 major shell closure
Sign Up to like & getrecommendations! Published in 2019 at "Physical Review C"
DOI: 10.1103/physrevc.100.044312
Abstract: Excited states of the neutron-rich isotopes $^{42,44}$S and $^{41,43}$P have been studied via inverse-kinematics proton scattering from a liquid hydrogen target, using the GRETINA $\gamma$-ray tracking array to extract inelastic scattering cross sections. Deformation lengths… read more here.
Keywords: scattering s42; inverse kinematics; kinematics proton; s42 p41 ... See more keywords
Experimental study of the nature of the 1− and 2− excited states in Be10 using the Be11(p,d) reaction in inverse kinematics
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DOI: 10.1103/physrevc.104.044601
Abstract: The nature of the 1 − and 2 − excited states in Be 10 is studied using the Be 11 ( p , d ) transfer reaction in inverse kinematics at 10A MeV at TRIUMF… read more here.
Keywords: inverse kinematics; nature excited; reaction inverse; kinematics ... See more keywords
Accurate isotopic fission yields of electromagnetically induced fission of $^{238}$U measured in inverse kinematics at relativistic energies
Sign Up to like & getrecommendations! Published in 2017 at "Physical Review C"
DOI: 10.1103/physrevc.95.054603
Abstract: SOFIA (Studies On Fission with Aladin) is a novel experimental program, dedicated to accurate measurements of fission-fragment isotopic yields. The setup allows us to fully identify, in nuclear charge and mass, both fission fragments in… read more here.
Keywords: inverse kinematics; induced fission; fission yields; fission ... See more keywords