...-effector 3D movement. In this article, we present a robot-agnostic formulation of discrete DMP based on the dual quaternion algebra, oriented to modeling throwing movements. We consider adapted initial and final poses and velocities, all computed from a projectile kinematic model and from the goal at which...

... structures combining serial and parallel components may offer advantages, leveraging the large reachable space of serial elements and the rigidity of parallel components for enhanced accuracy. Given the challenges in developing a comprehensive method for kinematic design and dynamic analysis of hybrid robots...

... a detailed analysis of the kinematic adaptability and interaction forces and torques associated with the 3R a 3P and 3R a 2R1P configurations, providing critical insights into their respective strengths and limitations. The methods include kinematic modeling and experimental evaluation of interaction forces...

...Milad Azizkhani; Junhyoung Ha; Anthony L. Gunderman; Yue Chen This article addresses the kinematic control of a redundant soft robotic arm. Full pose kinematic control of soft robots is challenging because direct application of the classical controllers developed based on rigid robots to soft...

...Hafez Tari Design and analysis of compliant mechanisms draw constraints from both kinematics and statics, resulting in heterogenous systems of equations. This heterogeneity makes the system numerically ill conditioned and not amenable to the entire solution set (conversely seen for rigid mechanisms...

..., position error, and orientation error across different loads. The starting positions change due to different loads, but the position and orientation converge to the desired pose over time. kinematics dynamics and control of mechanical systems 06 02 2024 22 01 2025 23 01 2025...

... of M echanisms and R obotics . 21 08 2024 25 01 2025 27 01 2025 27 02 2025 soft lower limb exoskeleton joint assist assistive tracking kinematics dynamics PD iterative learning cable driven compliant mechanisms and robots kinematics dynamics and control...

...K. B. Cantún-Avila; R. Peón-Escalante; J. A. Montoya; F. Peñuñuri We introduce a comprehensive methodology for calculating the propagation of errors in kinematic quantities up to the jerk for robotic systems and mechanical linkages. Our study utilizes two distinct computational approaches...

.... , 2013 , “ Quasi-Static Motion Simulation and Slip Prediction of Articulated Planetary Rovers Using a Kinematic Approach ,” ASME J. Mech. Rob. , 5 ( 2 ), p. 021002 . 10.1115/1.4023873 [16] Ugenti , A. , Galati , R. , Mantriota , G. , and Reina , G. , 2023 , “ Analysis...

... 2024 19 12 2024 03 01 2025 10 02 2025 cable driven kinematics dynamics control of mechanical systems multi-body dynamics and control parallel robots Agence Nationale de la Recherche 10.13039/501100001665 22-CE10-0008 A cable-driven parallel robot...

...Peng Cheng; Wen-ao Cao; Degang Liu; Jun Cui; Jingpei Lai This paper presents a novel 5-degree-of-freedom (5-DOF) delta-like parallel robot named the double-pitch-delta robot, which can output three translations and two pitch rotations for peg-in-hole assembly. First, the kinematic mechanism...

... . 15 05 2024 14 11 2024 14 11 2024 12 12 2024 grasping fixturing and multi-finger hands kinematics dynamics and control of mechanical systems mechanism synthesis and analysis mechanisms and robots theoretical and computational kinematics The design of grippers...

.... O. , Matsuki , K. , Mu , S. , Sasho , T. , Nakagawa , K. , Ochiai , N. , Takahashi , K. , and Banks , S. A. , 2010 , “ In Vivo 3D Kinematics of Normal Forearms: Analysis of Dynamic Forearm Rotation ,” Clin. Biomech. , 25 ( 10 ), pp. 979 – 983 . 10.1016...

... soft robotics cable driven kinematics dynamics and control of mechanical systems 18 03 2024 23 10 2024 24 10 2024 22 11 2024 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . Email...

... and Automation (ICRA) , Xi'an, China , June 5 , IEEE, pp. 592 – 598 . [8] Zhao , N. , Luo , Y. , Deng , H. , and Shen , Y. , 2017 , “ The Deformable Quad-Rotor: Design, Kinematics and Dynamics Characterization, and Flight Performance Validation ,” IEEE/RSJ International Conference...

...Andreas Müller Soft rods and tubular elements are the main building blocks of continuum robots. Kinetostatic models along with a geometrically exact description of the kinematics on S E ( 3 ) are now an established foundation for simulation and control. A key aspect is the reconstruction...

... kinematics dynamics and control of mechanical systems mechanisms and robots motion and manipulation planning Singapore University of Technology and Design 10.13039/501100007040 RTDST230617 In recent years, legged robots’ capabilities have increased significantly [ 1 – 3 ]. Now...

... no boundary conditions are applied. This research provides valuable insights into understanding origami unit kinematic optimization through forward and inverse kinematics. It offers potential applications in the engineering design of foldable structures and precision origami-inspired mechanism, thereby...

... object transport multi-robot systems non-contact mechanisms magnetic pushing leader–follower formation kinematics dynamics and control of mechanical systems mechanisms and robots Cooperative multi-robot systems have become a popular research topic in recent years [ 1 – 5 ]. These systems...

.... Therefore, having a fully articulated arm on top of a legged robot is kinematically redundant. Fig. 1 State-of-the-art six-DoF robotic arm mounted on Boston Dynamics Spot. The arm weighs 8 kg and, when mounted on Spot in, can only lift 25% of the total platform weight. State-of-the-art six-DoF...