scholarly journals A Recursive Algorithm for the Forward Kinematic Analysis of Robotic Systems Using Euler Angles

Robotics ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 15
Author(s):  
Fernando Gonçalves ◽  
Tiago Ribeiro ◽  
António Fernando Ribeiro ◽  
Gil Lopes ◽  
Paulo Flores
Keyword(s):  
Recursive Algorithm ◽  
Kinematic Chain ◽  
Robotic Systems ◽  
Mobile Manipulator ◽  
Euler Angles ◽  
Joint Angles ◽  
Main Research ◽  
Kinematic Chains ◽  
Research Fields ◽  
Forward Kinematic

Forward kinematics is one of the main research fields in robotics, where the goal is to obtain the position of a robot’s end-effector from its joint parameters. This work presents a method for achieving this using a recursive algorithm that builds a 3D computational model from the configuration of a robotic system. The orientation of the robot’s links is determined from the joint angles using Euler Angles and rotation matrices. Kinematic links are modeled sequentially, the properties of each link are defined by its geometry, the geometry of its predecessor in the kinematic chain, and the configuration of the joint between them. This makes this method ideal for tackling serial kinematic chains. The proposed method is advantageous due to its theoretical increase in computational efficiency, ease of implementation, and simple interpretation of the geometric operations. This method is tested and validated by modeling a human-inspired robotic mobile manipulator (CHARMIE) in Python.

scholarly journals Kinematic Chains in Ski Jumping In-run Posture

2013 ◽  
Vol 39 (1) ◽  
pp. 67-73 ◽  
Author(s):  
Eva Janurová ◽  
Miroslav Janura ◽  
Lee Cabell ◽  
Zdeněk Svoboda ◽  
Ivan Vařeka ◽  
...  
Keyword(s):  
Kinematic Chain ◽  
Coefficient Of Determination ◽  
Ground Contact ◽  
Longitudinal Assessment ◽  
Joint Angles ◽  
World Cup ◽  
Kinematic Data ◽  
Kinematic Chains ◽  
Ski Jumping ◽  
Adjacent Segments

Abstract The concept of kinematic chains has been systematically applied to biological systems since the 1950s. The course of a ski jump can be characterized as a change between closed and open kinematic chains. The purpose of this study was to determine a relationship between adjacent segments within the ski jumper’s body’s kinematic chain during the in-run phase of the ski jump. The in-run positions of 267 elite male ski jumpers who participated in the FIS World Cup events in Innsbruck, Austria, between 1992 and 2001 were analyzed (656 jumps). Two-dimensional (2-D) kinematic data were collected from the bodies of the subjects. Relationships between adjacent segments of the kinematic chain in the ski jumper’s body at the in-run position are greater nearer the chain’s ground contact. The coefficient of determination between the ankle and knee joint angles is 0.67. Changes in the segments’ positions in the kinematic chain of the ski jumper’s body are stable during longitudinal assessment. Changes in shank and thigh positions, in the sense of increase or decrease, are the same.

Structure-Bioactivity Relationship Study of Xanthene Derivatives: A Brief Review

2020 ◽  
Vol 16 (8) ◽  
pp. 1071-1077
Author(s):  
Aref G. Ghahsare ◽  
Zahra S. Nazifi ◽  
Seyed M.R. Nazifi
Keyword(s):  
Biological Activities ◽  
Cyclic Compound ◽  
Research Field ◽  
Pharmaceutical Chemistry ◽  
Therapeutic Effects ◽  
Main Research ◽  
Research Fields ◽  
Xanthene Derivatives ◽  
Anti Cancer ◽  
Heterocyclic Derivatives

: Over the last decades, several heterocyclic derivatives compounds have been synthesized or extracted from natural resources and have been tested for their pharmaceutical activities. Xanthene is one of these heterocyclic derivatives. These compounds consist of an oxygen-containing central heterocyclic structure with two more cyclic structures fused to the central cyclic compound. It has been shown that xanthane derivatives are bioactive compounds with diverse activities such as anti-bacterial, anti-fungal, anti-cancer, and anti-inflammatory as well as therapeutic effects on diabetes and Alzheimer. The anti-cancer activity of such compounds has been one of the main research fields in pharmaceutical chemistry. Due to this diverse biological activity, xanthene core derivatives are still an attractive research field for both academia and industry. This review addresses the current finding on the biological activities of xanthene derivatives and discussed in detail some aspects of their structure-activity relationship (SAR).

Exploring climate finance for tourism adaptation development: an overview

2016 ◽  
Vol 8 (5) ◽  
pp. 593-605 ◽  
Author(s):  
Daniele Vieira do Nascimento
Keyword(s):  
Climate Change ◽  
Literature Review ◽  
English Language ◽  
Small Island ◽  
Future Research ◽  
Climate Finance ◽  
Content Type ◽  
Main Research ◽  
Research Fields ◽  
New Research

Purpose The purpose of this paper is to provide an overview of the links between climate finance and tourism adaptation development. Besides increasing adaptation and mitigation efforts to limit greenhouse gas emissions, climate change remains a major challenge in the twenty-first century and beyond especially for tourism which is highly climate sensitive. Hence, it is necessary for tourism to adapt to survive. The aim of the study is to provide a systematic overview of the topic to offer a foundation for better understanding different ways of integrating climate finance initiatives with tourism. Design/methodology/approach The research focused on the top-ranked, peer reviewed journals of each of the two selected research fields. To address this topic, an in-depth systematic literature review in the fields of climate change finance and tourism adaptation development was conducted. Furthermore, because it is a relatively new research topic, conference proceedings were also explored. To guarantee wide coverage of the literature, a query of the following scholarly databases was considered: Elsevier, ScienceDirect and Web of Science. Findings Based on the analyses of the literature available on the topic, the paper highlights the main research trends and conclusions. It is argued that there is imbalance of knowledge on climate change finance as it relates to tourism. To date, there have been relatively few published articles on this topic in the context of tourism. Based on the findings, promising areas for future research were identified, and in particular for small island communities and recommendations for future research are outlined. Research limitations/implications The paper is limited by the scope of the literature review accessed by the researcher. The results of this review may vary according to the databases used. Originality/value Currently, there is no extensive review of articles on climate finance and tourism adaptation. This paper aims at reviewing climate finance studies published in English language to explore knowledge gaps in tourism adaptation. Sets of themes being advanced are also highlighted. Recommendations for future research are provided.

Structure Based Grading of Kinematic Chains

2014 ◽  
Vol 575 ◽  
pp. 501-506 ◽  
Author(s):  
Shubhashis Sanyal ◽  
G.S. Bedi
Keyword(s):  
Structural Properties ◽  
Structural Property ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Kinematic Chains ◽  
Structural Differences ◽  
The Individual ◽  
Independent Loops

Kinematic chains differ due to the structural differences between them. The location of links, joints and loops differ in each kinematic chain to make it unique. Two similar kinematic chains will produce similar motion properties and hence are avoided. The performance of these kinematic chains also depends on the individual topology, i.e. the placement of its entities. In the present work an attempt has been made to compare a family of kinematic chains based on its structural properties. The method is based on identifying the chains structural property by using its JOINT LOOP connectivity table. Nomenclature J - Number of joints, F - Degree of freedom of the chain, N - Number of links, L - Number of basic loops (independent loops plus one peripheral loop).

Combined Graph Layout Algorithms for Automated Sketching of Kinematic Chains

2012 ◽  
Author(s):  
Martín A. Pucheta ◽  
Nicolás E. Ulrich ◽  
Alberto Cardona
Keyword(s):  
Computational Cost ◽  
Kinematic Chain ◽  
Initial Position ◽  
Graph Representation ◽  
Combinatorial Algorithms ◽  
Graph Layout ◽  
Kinematic Chains ◽  
Aesthetic Characteristics ◽  
Edge Crossings ◽  
Independent Loops

The graph layout problem arises frequently in the conceptual stage of mechanism design, specially in the enumeration process where a large number of topological solutions must be analyzed. Two main objectives of graph layout are the avoidance or minimization of edge crossings and the aesthetics. Edge crossings cannot be always avoided by force-directed algorithms since they reach a minimum of the energy in dependence with the initial position of the vertices, often randomly generated. Combinatorial algorithms based on the properties of the graph representation of the kinematic chain can be used to find an adequate initial position of the vertices with minimal edge crossings. To select an initial layout, the minimal independent loops of the graph can be drawn as circles followed by arcs, in all forms. The computational cost of this algorithm grows as factorial with the number of independent loops. This paper presents a combination of two algorithms: a combinatorial algorithm followed by a force-directed algorithm based on spring repulsion and electrical attraction, including a new concept of vertex-to-edge repulsion to improve aesthetics and minimize crossings. Atlases of graphs of complex kinematic chains are used to validate the results. The layouts obtained have good quality in terms of minimization of edge crossings and maximization of aesthetic characteristics.

A Novel Method for Constructing Multi-Mode Deployable Polyhedron Mechanisms Using Symmetric Spatial RRR Compositional Units

2018 ◽  
Author(s):  
Jieyu Wang ◽  
Xianwen Kong
Keyword(s):  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Single Loop ◽  
Kinematic Chains ◽  
The Third ◽  
Motion Modes ◽  
3D Printed ◽  
Novel Method ◽  
Multi Mode ◽  
Motion Mode

A novel construction method is proposed to construct multimode deployable polyhedron mechanisms (DPMs) using symmetric spatial RRR compositional units, a serial kinematic chain in which the axes of the first and the third revolute (R) joints are perpendicular to the axis of the second R joint. Single-loop deployable linkages are first constructed using RRR units and are further assembled into polyhedron mechanisms by connecting single-loop kinematic chains using RRR units. The proposed mechanisms are over-constrained and can be deployed through two approaches. The prism mechanism constructed using two Bricard linkages and six RRR limbs has one degree-of-freedom (DOF). When removing three of the RRR limbs, the mechanism obtains one additional 1-DOF motion mode. The DPMs based on 8R and 10R linkages also have multiple modes, and several mechanisms are variable-DOF mechanisms. The DPMs can switch among different motion modes through transition positions. Prototypes are 3D-printed to verify the feasibility of the mechanisms.

scholarly journals Deformation analysis with Total Least Squares

2006 ◽  
Vol 6 (4) ◽  
pp. 663-669 ◽  
Author(s):  
M. Acar ◽  
M. T. Özlüdemir ◽  
O. Akyilmaz ◽  
R. N. Çelik ◽  
T. Ayan
Keyword(s):  
Least Squares ◽  
Total Least Squares ◽  
Transformation Model ◽  
Deformation Analysis ◽  
New Approach ◽  
Main Research ◽  
Research Fields ◽  
Analysis Process ◽  
Alternative Methodology ◽  
Coordinate Changes

Abstract. Deformation analysis is one of the main research fields in geodesy. Deformation analysis process comprises measurement and analysis phases. Measurements can be collected using several techniques. The output of the evaluation of the measurements is mainly point positions. In the deformation analysis phase, the coordinate changes in the point positions are investigated. Several models or approaches can be employed for the analysis. One approach is based on a Helmert or similarity coordinate transformation where the displacements and the respective covariance matrix are transformed into a unique datum. Traditionally a Least Squares (LS) technique is used for the transformation procedure. Another approach that could be introduced as an alternative methodology is the Total Least Squares (TLS) that is considerably a new approach in geodetic applications. In this study, in order to determine point displacements, 3-D coordinate transformations based on the Helmert transformation model were carried out individually by the Least Squares (LS) and the Total Least Squares (TLS), respectively. The data used in this study was collected by GPS technique in a landslide area located nearby Istanbul. The results obtained from these two approaches have been compared.

scholarly journals Structural synthesis of plane kinematic chain inversions without detecting isomorphism

2021 ◽  
Vol 12 (2) ◽  
pp. 1061-1071
Author(s):  
Jinxi Chen ◽  
Jiejin Ding ◽  
Weiwei Hong ◽  
Rongjiang Cui
Keyword(s):  
Mechanism Design ◽  
Adjacency Matrix ◽  
Synthesis Method ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Synthesis Methods ◽  
Creative Design ◽  
Structural Synthesis ◽  
Kinematic Chains

Abstract. A plane kinematic chain inversion refers to a plane kinematic chain with one link fixed (assigned as the ground link). In the creative design of mechanisms, it is important to select proper ground links. The structural synthesis of plane kinematic chain inversions is helpful for improving the efficiency of mechanism design. However, the existing structural synthesis methods involve isomorphism detection, which is cumbersome. This paper proposes a simple and efficient structural synthesis method for plane kinematic chain inversions without detecting isomorphism. The fifth power of the adjacency matrix is applied to recognize similar vertices, and non-isomorphic kinematic chain inversions are directly derived according to non-similar vertices. This method is used to automatically synthesize 6-link 1-degree-of-freedom (DOF), 8-link 1-DOF, 8-link 3-DOF, 9-link 2-DOF, 9-link 4-DOF, 10-link 1-DOF, 10-link 3-DOF and 10-link 5-DOF plane kinematic chain inversions. All the synthesis results are consistent with those reported in literature. Our method is also suitable for other kinds of kinematic chains.

The future of sustainable supply chains: a novel tertiary-systematic methodology

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Piera Centobelli ◽  
Roberto Cerchione ◽  
Livio Cricelli ◽  
Emilio Esposito ◽  
Serena Strazzullo
Keyword(s):  
New Classification ◽  
Bottom Line ◽  
Content Type ◽  
Main Research ◽  
Sustainable Supply Chains ◽  
Research Areas ◽  
Research Fields ◽  
Research Perspectives ◽  
Systematic Methodology

Purpose In recent years, economic, environmental and social sustainability has become one of the fastest-growing research fields. The number of primary and secondary papers addressing the triple bottom line is growing significantly, and the supply chain (SC) management discipline is in the same wave. Therefore, this paper aims to propose a novel tertiary systematic methodology to explore, aggregate, categorise and analyse the findings provided by secondary studies. Design/methodology/approach A novel tertiary systematic literature review approach, including 94 secondary studies, is proposed and used to analyse sustainable SC literature. The papers have been analysed using a research protocol, including descriptive and content analysis criteria. Findings This tertiary study does not only provide an overview of the literature on the topic of sustainability in SCs but also goes further, drawing up a categorisation of main research areas and research perspectives adopted by previous researchers. The paper also presents a rank of research gaps and an updated and a prioritised agenda. Originality/value This paper provides a novel interpretation of the research topics addressed by the secondary studies and presents a new classification of the literature gaps and their evolution. Finally, a dynamic research compass for both academicians and practitioners is presented.

Sign in / Sign up

Export Citation Format

Share Document