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Forward Kinematics
In robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics. Kinematics equations The kinematics equations for the series chain of a robot are obtained using a rigid transformation to characterize the relative movement allowed at each joint and separate rigid transformation to define the dimensions of each link. The result is a sequence of rigid transformations alternating joint and link transformations from the base of the chain to its end link, which is equated to the specified position for the end link, : = _1X_1] _2X_2]\ldots _Z_n],\! where is the transformation locating the end-link. These equations are ca ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robot Arm Model 1
A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics. Robots can be autonomous or semi-autonomous and range from humanoids such as Honda's ''Advanced Step in Innovative Mobility'' ( ASIMO) and TOSY's ''TOSY Ping Pong Playing Robot'' (TOPIO) to industrial robots, medical operating robots, patient assist robots, dog therapy robots, collectively programmed ''swarm'' robots, UAV drones such as General Atomics MQ-1 Predator, and even microscopic nano robots. By mimicking a lifelike appearance or automating movements, a robot may convey a sense of intelligence or thought of its own. Autonomous things are expected to proliferate in ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Denavit–Hartenberg Parameters
In mechanical engineering, the Denavit–Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained (or desired) motion that is the mathematical model for a mechanical system. Reuleaux, F., 187''The Kinematics of Machine ..., or robot manipulator. Jacques Denavit and Richard Hartenberg introduced this convention in 1955 in order to standardize the coordinate frames for Linkage (mechanical), spatial linkages. Richard Paul demonstrated its value for the kinematic analysis of robotic systems in 1981. While many conventions for attaching reference frames have been developed, the Denavit–Hartenberg convention remains a popular approach. Denavit–Hartenberg convention A commonly used convention for selecting frames of referenc ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Mechanical Systems
A machine is a physical system using power to apply forces and control movement to perform an action. The term is commonly applied to artificial devices, such as those employing engines or motors, but also to natural biological macromolecules, such as molecular machines. Machines can be driven by animals and people, by natural forces such as wind and water, and by chemical, thermal, or electrical power, and include a system of mechanisms that shape the actuator input to achieve a specific application of output forces and movement. They can also include computers and sensors that monitor performance and plan movement, often called mechanical systems. Renaissance natural philosophers identified six simple machines which were the elementary devices that put a load into motion, and calculated the ratio of output force to input force, known today as mechanical advantage. Modern machines are complex systems that consist of structural elements, mechanisms and control component ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robot Control
Robotic control is the system that contributes to the movement of robots. This involves the mechanical aspects and programmable systems that makes it possible to control robots. Robotics could be controlled in various ways, which includes using manual control, wireless control, semi- autonomous (which is a mix of fully automatic and wireless control), and fully autonomous (which is when it uses artificial intelligence to move on its own, but there could be options to make it manually controlled). In the present day, as technological advancements progress, robots and their methods of control continue to develop and advance. Modern robots (2000-present) Medical and surgical In the medical field, robots are used to make precise movements that are humanly difficult. Robotic surgery involves the use of less-invasive surgical methods, which are “procedures performed through tiny incisions”. Currently, robots use the da Vinci surgical method, which involves the robotic arm (whi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Kinematic Chain
In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained (or desired) motion that is the mathematical model for a mechanical system. Reuleaux, F., 187''The Kinematics of Machinery,''(trans. and annotated by A. B. W. Kennedy), reprinted by Dover, New York (1963) As in the familiar use of the word chain, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator.J. M. McCarthy and G. S. Soh, 2010''Geometric Design of Linkages,''Springer, New York. Mathematical models of the connections, or joints, between two links are termed kinematic pairs. Kinematic pairs model the hinged and sliding joints fundamental to robotics, often called ''lower pairs'' and the surface contact joints critical to cams and gearing, called ''higher pairs.'' ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverse Kinematics
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics. However, the reverse operation is, in general, much more challenging. Inverse kinematics is also used to recover the movements of an object in the world from some other data, such as a film of those movements, or a film of the world as seen by a camera which is itself making those movements. This occurs, for example, where a human actor's filmed movements are to be duplicated by an animated character. Robotics In robotics, inverse ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Physical Law
Scientific laws or laws of science are statements, based on repeated experiments or observations, that describe or predict a range of natural phenomena. The term ''law'' has diverse usage in many cases (approximate, accurate, broad, or narrow) across all fields of natural science (physics, chemistry, astronomy, geoscience, biology). Laws are developed from data and can be further developed through mathematics; in all cases they are directly or indirectly based on empirical evidence. It is generally understood that they implicitly reflect, though they do not explicitly assert, causal relationships fundamental to reality, and are discovered rather than invented. Scientific laws summarize the results of experiments or observations, usually within a certain range of application. In general, the accuracy of a law does not change when a new theory of the relevant phenomenon is worked out, but rather the scope of the law's application, since the mathematics or statement represent ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverse Kinematic Animation
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics. However, the reverse operation is, in general, much more challenging. Inverse kinematics is also used to recover the movements of an object in the world from some other data, such as a film of those movements, or a film of the world as seen by a camera which is itself making those movements. This occurs, for example, where a human actor's filmed movements are to be duplicated by an animated character. Robotics In robotics, inverse ki ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Degrees Of Freedom (engineering)
In physics, the degrees of freedom (DOF) of a mechanical system is the number of independent parameters that define its configuration or state. It is important in the analysis of systems of bodies in mechanical engineering, structural engineering, aerospace engineering, robotics, and other fields. The position of a single railcar (engine) moving along a track has one degree of freedom because the position of the car is defined by the distance along the track. A train of rigid cars connected by hinges to an engine still has only one degree of freedom because the positions of the cars behind the engine are constrained by the shape of the track. An automobile with highly stiff suspension can be considered to be a rigid body traveling on a plane (a flat, two-dimensional space). This body has three independent degrees of freedom consisting of two components of translation and one angle of rotation. Skidding or drifting is a good example of an automobile's three independent degrees ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Knuckle
The knuckles are the joints of the fingers. The word is cognate to similar words in other Germanic languages, such as the Dutch "knokkel" (knuckle) or German "Knöchel" (ankle), i.e., ''Knöchlein'', the diminutive of the German word for bone (''Knochen''). Anatomically, it is said that the knuckles consist of the metacarpophalangealUtah Mountain BikingThumb Sprain First as metacarpo. (MCP) and interphalangeal (IP) joints of the finger. The knuckles at the base of the fingers may be referred to as the 1st or major knuckles while the knuckles at the midfinger are known as the 2nd and 3rd, or minor, knuckles. However, the ordinal terms are used inconsistently and may refer to any of the knuckles. Cracking The physical mechanism behind the popping or cracking sound heard when cracking joints such as knuckles has recently been elucidated by cine MRI to be caused by tribonucleation as a gas bubble forms in the synovial fluid Synovial fluid, also called synovia, elp 1/sup> ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Thumb
The thumb is the first digit of the hand, next to the index finger. When a person is standing in the medical anatomical position (where the palm is facing to the front), the thumb is the outermost digit. The Medical Latin English noun for thumb is ''pollex'' (compare ''hallux'' for big toe), and the corresponding adjective for thumb is ''pollical''. Definition Thumb and fingers The English word ''finger'' has two senses, even in the context of appendages of a single typical human hand: # Any of the five terminal members of the hand. # Any of the four terminal members of the hand, other than the thumb Linguistically, it appears that the original sense was the first of these two: (also rendered as ) was, in the inferred Proto-Indo-European language, a suffixed form of (or ), which has given rise to many Indo-European-family words (tens of them defined in English dictionaries) that involve, or stem from, concepts of fiveness. The thumb shares the following with each of the o ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Wrist
In human anatomy, the wrist is variously defined as (1) the carpus or carpal bones, the complex of eight bones forming the proximal skeletal segment of the hand; "The wrist contains eight bones, roughly aligned in two rows, known as the carpal bones." (2) the wrist joint or radiocarpal joint, the joint between the radius and the carpus and; (3) the anatomical region surrounding the carpus including the distal parts of the bones of the forearm and the proximal parts of the metacarpus or five metacarpal bones and the series of joints between these bones, thus referred to as ''wrist joints''. "With the large number of bones composing the wrist (ulna, radius, eight carpas, and five metacarpals), it makes sense that there are many, many joints that make up the structure known as the wrist." This region also includes the carpal tunnel, the anatomical snuff box, bracelet lines, the flexor retinaculum, and the extensor retinaculum. As a consequence of these various definitions, ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
