ASIC SOLUTION FOR REAL-TIME INVERSE KINEMATIC AND JACOBIAN COMPUTATIONS

1992 ◽  
pp. 1545-1548
Author(s):  
F. Kocsis ◽  
K. Ort ◽  
J.F. Böhme
Keyword(s):  
Real Time ◽  
Inverse Kinematic

scholarly journals A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Hongzhe Jin ◽  
Hui Zhang ◽  
Zhangxing Liu ◽  
Decai Yang ◽  
Dongyang Bie ◽  
...  
Keyword(s):  
Real Time ◽  
Null Space ◽  
Inverse Kinematic ◽  
Moving Object ◽  
Redundant Manipulators ◽  
Joint Angles ◽  
The Real ◽  
Time Path ◽  
Planar Manipulators ◽  
Spline Filter

This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM) are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.

Real-Time Solution of the Inverse Kinematic-Rate Problem

2000 ◽  
Vol 19 (12) ◽  
pp. 1236-1244 ◽  
Author(s):  
Stuart R. Lucas ◽  
Craig R. Tischler ◽  
Andrew E. Samuel
Keyword(s):  
Real Time ◽  
Inverse Kinematic ◽  
Time Solution

scholarly journals Inverse Kinematic Control of a Delta Robot Using Neural Networks in Real-Time

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 115
Author(s):  
Akram Gholami ◽  
Taymaz Homayouni ◽  
Reza Ehsani ◽  
Jian-Qiao Sun
Keyword(s):  
Neural Networks ◽  
Real Time ◽  
Trajectory Tracking ◽  
Tracking Error ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Robot Kinematics ◽  
Kinematic Control ◽  
Modeling Uncertainties ◽  
Delta Robot

This paper presents an inverse kinematic controller using neural networks for trajectory controlling of a delta robot in real-time. The developed control scheme is purely data-driven and does not require prior knowledge of the delta robot kinematics. Moreover, it can adapt to the changes in the kinematics of the robot. For developing the controller, the kinematic model of the delta robot is estimated by using neural networks. Then, the trained neural networks are configured as a controller in the system. The parameters of the neural networks are updated while the robot follows a path to adaptively compensate for modeling uncertainties and external disturbances of the control system. One of the main contributions of this paper is to show that updating the parameters of neural networks offers a smaller tracking error in inverse kinematic control of a delta robot with consideration of joint backlash. Different simulations and experiments are conducted to verify the proposed controller. The results show that in the presence of external disturbance, the error in trajectory tracking is bounded, and the negative effect of joint backlash in trajectory tracking is reduced. The developed method provides a new approach to the inverse kinematic control of a delta robot.

scholarly journals A Real-Time Upper-Body Robot Imitation System

2019 ◽  
Vol 2 (1) ◽  
pp. 49 ◽  
Author(s):  
Zhijun Zhang ◽  
Yaru Niu ◽  
Lingdong Kong ◽  
Shuyang Lin ◽  
Hao Wang
Keyword(s):  
Real Time ◽  
Humanoid Robot ◽  
Computational Cost ◽  
Human Head ◽  
Inverse Kinematic ◽  
Recognition Algorithm ◽  
Upper Body ◽  
State Recognition ◽  
Hand Motion ◽  
Arm Motions

An upper-body robot imitation (UBRI) system is proposed and developed to enable the human upper body imitation by a humanoid robot in real time. To achieve the imitation of arm motions, a geometry-based analytical method is presented and applied to extracting the joint angles of the human and mapping to the robot. Comparing to the traditional numerical methods of inverse kinematic computations, the geometrical analysis method generates a lower computational cost and maintains good imitation similarity. To map the human head motions to the head of the humanoid robot, a face tracking algorithm is employed to recognize the human face and track the human head poses in real time. A hand extraction and hand state recognition algorithm is proposed to achieve the hand motion mapping. At last, the completion rate and similarity evaluation experiments are conducted to verify the effectiveness of the proposed UBRI system.

A Graphic Simulator for the Study of Robotic Tracking and Catching Operations

1992 ◽  
Author(s):  
Jean Côte ◽  
Clément Gosselin ◽  
Denis Laurendeau
Keyword(s):  
Real Time ◽  
Minimum Distance ◽  
Inverse Kinematic ◽  
Real Solution ◽  
Inverse Kinematic Problem ◽  
End Effector ◽  
New Approach ◽  
Cartesian Space ◽  
Robotic Tracking

Abstract This paper presents a real time robot simulator running on a Silicon Graphics Personal IRIS workstation. In addition to the simulator, we introduce a new approach to compute the inverse kinematic functions whose domain of solution is not limited to the manipulator’s workspace. Using this approach, every point in the Cartesian space leads to a real solution when used as data for the inverse kinematic problem. The solution gives the minimum distance between the end-effector and the prescribed point in the Cartesian space. The proposed inverse kinematic functions are of great interest for tracking, approach and catching operations where the object to be reached or tracked by the manipulator is inside or outside the robot’s workspace. With the simulator, we can easily build any kind of manipulator and describe it using the Hartenberg-Denavit convention.

Some Recent Results in Quiescent Prominence Spectrometry

1979 ◽  
Vol 44 ◽  
pp. 41-47
Author(s):  
Donald A. Landman
Keyword(s):  
Real Time ◽  
Computer System ◽  
Spectral Response ◽  
Absolute Intensity ◽  
Solar Observatory ◽  
Target Size ◽  
Small Target ◽  
Signal Averaging ◽  
Quiescent Prominence

This paper describes some recent results of our quiescent prominence spectrometry program at the Mees Solar Observatory on Haleakala. The observations were made with the 25 cm coronagraph/coudé spectrograph system using a silicon vidicon detector. This detector consists of 500 contiguous channels covering approximately 6 or 80 Å, depending on the grating used. The instrument is interfaced to the Observatory’s PDP 11/45 computer system, and has the important advantages of wide spectral response, linearity and signal-averaging with real-time display. Its principal drawback is the relatively small target size. For the present work, the aperture was about 3″ × 5″. Absolute intensity calibrations were made by measuring quiet regions near sun center.

Video real-time imaging of artificial membranes during freeze-drying by cryo-electron microscopy

1988 ◽  
Vol 46 ◽  
pp. 16-17
Author(s):  
Alan S. Rudolph ◽  
Ronald R. Price
Keyword(s):  
Real Time ◽  
Self Assembly ◽  
Freeze Drying ◽  
Video Capture ◽  
Drying Process ◽  
Artificial Membranes ◽  
The Past ◽  
Cryo Electron Microscopy ◽  
Spherical Structures ◽  
Capture Techniques

We have employed cryoelectron microscopy to visualize events that occur during the freeze-drying of artificial membranes by employing real time video capture techniques. Artificial membranes or liposomes which are spherical structures within internal aqueous space are stabilized by water which provides the driving force for spontaneous self-assembly of these structures. Previous assays of damage to these structures which are induced by freeze drying reveal that the two principal deleterious events that occur are 1) fusion of liposomes and 2) leakage of contents trapped within the liposome [1]. In the past the only way to access these events was to examine the liposomes following the dehydration event. This technique allows the event to be monitored in real time as the liposomes destabilize and as water is sublimed at cryo temperatures in the vacuum of the microscope. The method by which liposomes are compromised by freeze-drying are largely unknown. This technique has shown that cryo-protectants such as glycerol and carbohydrates are able to maintain liposomal structure throughout the drying process.

An Interactive Minicomputer Program for the Indexing and Simulation of Electron Diffraction Patterns

1976 ◽  
Vol 34 ◽  
pp. 542-543
Author(s):  
R.P. Goehner ◽  
W.T. Hatfield ◽  
Prakash Rao
Keyword(s):  
Electron Diffraction ◽  
Real Time ◽  
Pattern Analysis ◽  
Flow Diagram ◽  
Hard Copy ◽  
Time Analysis ◽  
Real Time Analysis ◽  
Transmission Electron ◽  
One Step ◽  
Diffraction Patterns

Computer programs are now available in various laboratories for the indexing and simulation of transmission electron diffraction patterns. Although these programs address themselves to the solution of various aspects of the indexing and simulation process, the ultimate goal is to perform real time diffraction pattern analysis directly off of the imaging screen of the transmission electron microscope. The program to be described in this paper represents one step prior to real time analysis. It involves the combination of two programs, described in an earlier paper(l), into a single program for use on an interactive basis with a minicomputer. In our case, the minicomputer is an INTERDATA 70 equipped with a Tektronix 4010-1 graphical display terminal and hard copy unit.A simplified flow diagram of the combined program, written in Fortran IV, is shown in Figure 1. It consists of two programs INDEX and TEDP which index and simulate electron diffraction patterns respectively. The user has the option of choosing either the indexing or simulating aspects of the combined program.

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