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Topic: Robot kinematics

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	General Purpose Simulator for Robot Manipulator Kinematics and Visualization (Site not responding. Last check: 2007-10-20)
		The design of the robot simulator is based on parallel distributed processing and socket-based interprocess communication which allows the different modules of the simulator to run in parallel on a network of workstations.
		The kinematics we employ for our simulations is based on the PUMA 562 industrial robotic manipulator, a 6-degree of freedom robot arm with a two-fingered gripper.
		The forward kinematics for the manipulator is calculated by a PEARL program which also handles the communication to and from the neural network controller as well as the data transfer between Geomview and the vision processing.
	www.ks.uiuc.edu /Research/Neural/puma.html (398 words)

	Robots
		The hands and arms of early robots were pneumatically powered (air pressure) or hydraulically powered (fluid pressure).
		Most robots are equipped with one hand and one arm of several articulated joints.
		Robots are grouped into classes according to the combination of joints used in their construction.
	www.robot-welding.com /robots.htm (379 words)

	Robot Kinematics
		Kinematics is the relationships between the positions, velocities, and accelerations of the links of a manipulator, where a manipulator is an arm, finger, or leg.
		The transformation, between a coordinate frame located in the hand of the robot (known as the hand frame) and a coordinate frame located in the base of the robot (known as the base frame) will be studied in detail.
		In the kinematic analysis of manipulator position, there are two separate problems to solve: direct kinemalics, and inverse kinematics.
	www.soton.ac.uk /~rmc1/robotics/arkinematics.htm (1652 words)

	Salomon Trujillo
		With easier-to-use, intelligent robots working on bomb squads, less time and money is spent on training technicians to use the robots, and the robots are capable of handling more complicated scenarios, thus keeping humans safe.
		Kinematics is the study of motion without paying attention to the effort needed to accomplish the motion.
		The robotics industry tends to use robots with easier and simpler conversions, the easiest of which are referred to as closed-form solution kinematics.
	www.its.caltech.edu /~sciwrite/journal03/trujillo.html (3133 words)

	What is Going on With Parallel Robots. . . .by Ilian Bonev, Editor, ParallelMIC - Robotics Online (Site not responding. Last check: 2007-10-20)
		Jean-Pierre Merlet (INRIA, France), a parallel robot is ''a closed-loop mechanism of which the end-effector is connected to the base by a multitude of independent kinematic chains.''
		The machine is a 3-axis parallel kinematic tool head that may advance in Z and tilt in all directions, and may be mounted on a conventional XY stage.
		The patent-pending three-winged robot consists of three serial chains, each composed of a prismatic actuator fixed to the base and three pivot joints parallel to the direction of the prismatic actuator.
	www.roboticsonline.com /public/articles/articlesdetails.cfm?id=798 (1929 words)

	Mobile robots
		A differentially-driven robot has one such constraint (the caster wheels are mounted on a swivel and hence give no constraint); bicycles and cars have two constraints: one on the front wheel axle and one on the rear wheel axle.
		The velocities in the two kinematic chains on the rear wheels of the car-like robot are not independent; in the rest of this Chapter they are replaced by one single similar chain connected to the midpoint of the rear axle (shown in dashed line in Fig.
		In the case of mobile robots, however, this drift is increased by (i) the finite resolution of the sensors, (ii) the inaccuracies in the geometric model (deformations), and (iii) slippage.
	www.roble.info /robotics/html/MobileRobots-1.html (3520 words)

	Industrial robot at AllExperts
		The field of industrial robotics may be more practically defined as the study, design and use of robot systems for manufacturing (a top-level definition relying on the prior definition of robot).
		Other industrial robots are much more flexible as to the orientation of the object on which they are operating or even the task that has to be performed on the object itself, which the robot may even need to identify.
		This allowed the robot to accurately follow arbitrary paths in space and widened the potential use of the robot to more sophisticated applications such as assembly and arc welding.
	en.allexperts.com /e/i/in/industrial_robot.htm (1591 words)

	Expert Witness Kinematics: Richard Hooper, Phd, PE
		Kinematics is the study of motion without consideration of the forces that cause those motions.
		Robots can have many joints, sometimes called degrees-of-freedom or DOF, which makes their kinematics quite interesting.
		Here is a statement of the inverse kinematics problem: "Given the position and orientation of the robot's hand, what are all of the joint displacements (angles and lengths)?" As we said previously, the general mathematical solution to this problem is the Mt. Everest of kinematics problems.
	www.safemachines.com /robotKinematics.htm (362 words)

	What kinds of Robotics Simulators are there ?
		Constructing the robot systems which has maximum 6 degrees of freedom as a total, accomplished with 1-3 degrees of freedom in the body and 1-3 degrees of freedom in the wrist is possible.
		Whereas in Robots Menu, operations like selecting modules from the sub-menus, containing graphics, which concern body, wrist, hand systems and work spaces of robots, finding direct and inverse kinematics solution of these systems, point by point simulation of the robot motions, changing Denavit-Hartenberg parameters and joint freedom extremums from the menus can be performed.
		All information about the robot is included in the DH parameter file, that the user has to supply for their own robot.
	home.datacomm.ch /andrea_galli/Whatrobotsim.html (4340 words)

	Tekkotsu: Kinematics Class Reference
		Kinematics tutorial to get a general understanding of the math involved and diagrams for usage with supported robots.
		There is a global instantiation of Kinematics named kine, which can be used to perform these calculations regarding the joint positions currently in state.
		To perform kinematics on a hypothetical set of joint values, use PostureEngine or one of its subclasses.
	www.cs.cmu.edu /~tekkotsu/dox/classKinematics.html (2659 words)

	CRM - Robot Modeling & Kinematics
		In robot modeling, the effect of every robot parameter on the structure of the robot can be immediately visualized and assessed for ease of understanding.
		The kinematics of robot manipulators is presented starting from simple robot mechanisms and builds to the most complex robot manipulator structures.
		A program that generates the forward kinematics equations for any robot manipulator described by the user is provided to assist in the study and understanding of robot kinematics.
	www.charlesriver.com /Books/BookDetail.aspx?productID=121171 (481 words)

	CENTER FOR ROBOTICS RESEARCH
		The Center for Robotics Research was established in the Department of Mechanical and Industrial Engineering by the Board of Trustees in June, 1983 to provide a focal point for the community in the growing field of robotics.
		The research objectives include new robot designs, robot kinematics and dynamics, robot vision and navigation, designing control structures for robot systems and manufacturing systems, artificial intelligence systems such as expert systems, neural networks and fully logic for robotics applications, computer architectures, and applications for automated and man/machine systems.
		Significant results include preparing researchers for industrial research, training teachers for universities, developing prototype machines to demonstrate technologies which may be licensed to industry, inventions which can be patented, software developments, application solutions, technology transfer, and general research that advances the state of the art.
	www.eng.uc.edu /robotics/center.html (838 words)

	Application of neural networks augmenting Taguchi's orthogonal arrays for simulating kinematics problems of robotics (Site not responding. Last check: 2007-10-20)
		Traditionally, end users were required to have some experience with robot kinematics training programs in order to analyse the kinematics and train the robots.
		When the type of robot changes, end users must again analyse the robot kinematics and solve extensive mathematical equations in order to control the new robot.
		An alternative approach for developing robot manipulator models is to use the concepts of neural networks to approximate robot kinematics to overcome the drawbacks of the existing methods.
	www.inderscience.com /search/index.php?action=record&rec_id=4157&prevQuery=&ps=10&m=or (286 words)

	Advanced Books
		The first is to use a map of the robot's environment; the second uses a set of built-in reflexes to enable a robot to react rapidly to local sensory information.
		The focus of this monograph is the FIRA framework of Soccer Robotics, in particular the Micro Robot World Cup Soccer Tournament, (MiroSot), which uses a central overhead camera to view the whole soccer field and central control of the robots.
		Robotic soccer is emerging as a standard challenge for AI and robotics researchers.
	www.robotbooks.com /advanced-robotics.htm (3184 words)

	Kinematics of Robot Manipulators - The MIT Press
		They focus particularly on kinematics, the geometry of rigid-body motion, which is an integral part of machine design theory.
		The challenges to kinematics researchers presented by general-purpose machines such as the manipulator are leading to new perspectives in the design and control of simpler machines with two, three, and more degrees of freedom.
		Kinematics of Robot Manipulators appeared as a special issue of the International Journal of Robotics Research.
	mitpress.mit.edu /catalog/item/?ttype=2&tid=6381 (178 words)

	Arc Welding Robot
		For welding it has almost entirely replaced the other types except for the Cartesian, see (robot kinematics), which is used for very large and very small robots.
		Jointed arm robots also allow the arc to weld in areas that are difficult to reach.
		In addition, jointed arm robots are the most compact and provide the largest work envelope relative to their size.Usually arc welding robots have five or six free programmable arms or axes.
	www.robot-welding.com /arcwelding_robot.htm (185 words)

	Design you own robot
		The user can define the joint types and link parameters, and then simulate the robot movements, determine the workspace, define routes and see how the robot moves over the route (inverse kinematics), as shown on fig.1.
		The robot links are shown as cillindrical parts with different colors and diameters.
		After giving the point coordinates the robot moves the gripper to the point, provided the point is a reachable one.
	www.raczynski.com /pn/makerob.htm (531 words)

	Robotic Control and Simulation Toolkit - Actin C++ Robotics Software for Linux and Windows (Site not responding. Last check: 2007-10-20)
		Actin is a C++ software toolkit that simplifies robotic applications by providing easy access to powerful software components. Through Windows and Linux libraries, it supports simulating and controlling the most complex of mechanisms.
		Based on patented software developed for NASA, Actin provides coordinated control for fixed or mobile robots with up to 100 independent moving parts. The developer specifies the robot kinematics and desired behavior, and Actin produces algorithms for setting joint positions and rates to achieve specified hand motion.
		With Actin, roboticists are free to focus on what the robot does and where the hands and tools should be, not on how they get there.
	www.energid.com /products-actin.htm (208 words)

	Tekkotsu: Kinematics Class Reference
		You should read the Kinematics tutorial to get a general understanding of the math involved and diagrams for usage with supported robots.
		PostureEngine also includes inverse kinematic functions, which will allow you to determine joint angles in order to reach a given point.
		The underlying ROBOOP library does not currently handle branching kinematic chains - in other words, each limb of the robot is a separate Robot as far as ROBOOP is concerned.
	ugweb.cs.ualberta.ca /~c412/tekkotsu/classKinematics.html (2059 words)

	Learn about Robot Inverse Kinematics
		To finish the solution let's say that this robot's link has a length of 1 foot and we want the robot's hand to be at X =.7071 feet.
		You may have to use your imagination a bit, but the schematic above is the planar part of the SCARA robot we discuss in the industrial robots section.
		The inverse kinematics solution for Cartesian robots is trivial as all axes are perpendicular by definition and thus there is no coupling of the motions.
	www.learnaboutrobots.com /inverseKinematics.htm (484 words)

	Develop Rotation Matrix Operator
		The position kinematic problem in robotics consists of two general parts: Forward Kinematics in which the joint variables of a robot given and the position and orientation of the end-effector/tool is to be determined, and the.
		Inverse Kinematics, where the desired position and orientation of the end-efffector/tool are given and the joint variables of the robot need to be found.
		Notice now that we are able to define the general pose of one body with respect to another with only 4 parameters, q, d, a, and a instead of 6 which we would expect.
	www.tntech.edu /me/courses/Canfield/me4140/notes/n4_files/n4.htm (844 words)

	Open Directory - Computers: Robotics: Software: Simulation (Site not responding. Last check: 2007-10-20)
		Gwell - Graphical Workshop for Modelling and Simulating Robot Environments (Gwell) is an OpenGL and Qt based 3D modelling application for building and simulating robots and their environment.
		Robot Auto Racing Simulator - RARS is intended as a competition among programmers.
		Robotics Toolbox for MATLAB - A public domain Matlab Toolbox for robot kinematics, dynamics and trajectory generation.
	dmoz.org /Computers/Robotics/Software/Simulation (990 words)

	Inverse Kinematics
		We are attacking the problem of implementing satisfying interaction with very high DOF systems of (partially) constrained geometric objects, with applications both in modular robot kinematics and constraint-based CAD systems.
		Loops in the kinematic topology of the robot constrain 15 DOF.
		Thus, the robot is free to move within a 132-dimensional subspace of its joint space while still achieving the requested task of placing the tower top.
	groups.csail.mit.edu /drl/Shady/inverse_kinematics.html (1095 words)

	Powell's Books - Advances in Robot Kinematics by J. Lenarcic and M.m. Stanisic (Site not responding. Last check: 2007-10-20)
		This text presents research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes, such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
		This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes, such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.
		The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems.
	www.powells.com /biblio?PID=24351&cgi=product&isbn=0792364260 (277 words)

	/Downloads/Software/RRG Kinematix v4.0
		All information about the robot is included in the DH parameter file that the user has to supply for each robot.
		Since this is a 7 DOF spatial (redundant) robot, the inverse type can be chosen and this feature is also demonstrated.
		This program then calculates the forward kinematics for torso and based on this result recalculates the arm inverse kinematics, so that the end-effector of the arm stays in the same position.
	www.robotics.utexas.edu /rrg/downloads/software/rrgkmax4.0 (1000 words)

	The Book Pl@ce: Title Detail (Site not responding. Last check: 2007-10-20)
		This volume includes a selection of papers presented at the second workshop on Robot Kinematics held in Linz, September 10-12, 1990.
		The papers present new results and overviews on various aspects of robot kinematics such as modelling and computation, analysis and design, motion planning and control, inverse kinematics calculations, kinematic redundancy, and parallel mechanisms.
		Special emphasis was put on the investigation of symbolic computation techniques for problems in robot kinematics.
	www.bookends.co.uk /bookplace/display.asp?K=179563329133000&aub=Jadran&m=2&dc=11 (79 words)

	ROBOOP: ROBOOP::Robot Class Reference
		Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix and dRot, ColumnVector and dpos, const int i, const int endlink).
		The solution is based on the analytic inverse kinematics if robot type (familly) is Rhino or Puma, otherwise used the numerical algoritm defined in Robot_basic class.
		Identify the inverse kinematics analytic solution based on the similarity of the robot DH parameters and the DH parameters of know robots (ex: Puma, Rhino,...).
	www.cs.cmu.edu /afs/cs.cmu.edu/Web/People/tekkotsu/dox/roboop/classROBOOP_1_1Robot.html (817 words)

	3D Studio MAX 3.1 tutorials by Aaron Ross -- #10: Forward Kinematics -- The Robot Arm (Site not responding. Last check: 2007-10-20)
		This will be the base of the robot arm, which rotates on top of the platform.
		Assign the Wrist to be the parent of the Thumb.
		Since all other objects in the robot arm are Descendents of the platform, the entire hierarchy moves as a single unit.
	www.cglearn.com /tutorials/max3/10_robot.html (1114 words)

	RobotCafe.com : Software : Simulators
		RRG Kinematix - is a C/C++ library for generalized robot kinematics.
		Simbad - Simbad is a highly portable Robot 3d simulator for scientific and educationnal purposes.
		Webots - a realistic mobile robots simulator that includes models for the Khepera and Alice robots as well as extension turrets for obstacle detection, vision, gripping objects.
	www.robotcafe.com /dir/Software/Simulators/more2.shtml (225 words)

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