Numerical inverse kinematics for modular reconfigurable robots

Based on the kinematic graph of the modular robot, and its corresponding accessibility matrix and path matrix, one can extend this differential kinematics model ...

The inverse kinematics solutions of a reconfigurable robot system built upon a collection of standardized components is difficult to obtain ...

Inverse kinematics for modular reconfigurable robots - IEEE Xplore

This paper addresses the formulation of a generic numerical inverse kinematics model and automatic generation of the model for arbitrary robot geometry ...

Inverse kinematics for modular reconfigurable robots - ResearchGate

PDF | Inverse kinematics solutions of a reconfigurable robot system built upon a collection of standardized components are difficult to obtain because.

Inverse kinematics for modular reconfigurable robots - IEEE Xplore

Therefore, it calls for the development of generic inverse kinematiles algorithms for modular re- configurable robots. A numerical inverse kinematic algorithm ...

Inverse Kinematics Data Adaptation to Non-Standard Modular ...

The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM).

(PDF) Research on kinematics of modular reconfigurable robots

Secondly, module frames are defined and attached to each connector of modules. Thirdly, based on screw theory and Lie group and Lie algebra, the initial poses ...

modular reconfigurable robotic systems

Tree Robot Forward Kinematics Algorithm. 82. 88. 5.1.4. Forward ... The inverse kinematics of the. RMMS is obtained by a numerical inverse kinematics scheme.

Task-oriented inverse kinematics of modular reconfigurable robots ...

This work presents a method to automatically generate the kinematics of modular reconfigurable robot, and introduces the modular robot system, including the ...

Typical configuration analysis of a modular reconfigurable cable ...

The inverse kinematics and dynamics of the modular reconfigurable cable-driven parallel robot considering diverse configurations are derived ...

Inverse Kinematic Solution for Robot Manipulator Based on ...

A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed in this paper.

Design, construction and demonstration of modular, reconfigurable ...

Inverse kinematics for modular reconfigurable robots ... This paper addresses the formulation of a generic numerical inverse kinematics ... Development of motion ...

Structure design and motion analysis of a modular robot with ...

18. However, their analysis on solving inverse kinematic problems is inadequate. In this paper, a reconfigurable modular robot system is proposed. A new type of ...

An adaptive niching genetic algorithm approach for generating

Numerical inverse kinematics. The ... Yang, “Inverse Kinematics for Modular. Reconfigurable Robots,” Proceedings of IEEE International.

Closed-Form Inverse Kinematics Solver for Recon gurable Robots

Numerical inverse kinemat- ics for modular reconfigurable robots. Journal of Robotic. Systemsё 16(4):213-225ё 1999. [6] P. Bidaud C. Mavroidisё F.B. Ouezdou ...

Analysis of methods for solving inverse kinematics of modular ...

Numerical inverse kinematics for modular reconfigurable robots. Journal of Robotic Systems. 1999;16(4):213-225. https://doi.org/10.1002/(SICI)1097-4563 ...

Generation of closed-form inverse kinematics for reconfigurable robots

Though numerical inverse kinematics is one of the viable solutions, it ... Thus, the inverse kinematics of reconfigurable modular robots are converted ...

Flexible kinematics for modular robots - ScienceDirect.com

This paper describes the implementation of a modification of the Newton-Raphson algorithm to produce the inverse kinematics solutions to fulfil this requirement ...

Closed-form inverse kinematics solver for reconfigurable robots ...

Its novelty lies in the use of POE reduction techniques and subproblems to obtain inverse kinematics solutions of a large number of possible configurations in a ...

An adaptive niching genetic algorithm approach for generating ...

Inverse kinematics (IK) is a nonlinear problem that may have multiple solutions. A modified genetic algorithm (GA) for solving the IK of a serial robotic ...