'Joint torques' diaporamas de présentation

Introduction to Robotics

Introduction to Robotics. Instructed by: Arthur Silitonga. Outline. Course Information Course Overview & Objectives Course Materials Course Requirement/Evaluation/Grading (REG). I. Course Information. Instructor + Name : Arthur Silitonga + Address : Jl. Ki Hadjar Dewantara,

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Can We Figure Out What Algorithms Are Used For Balance and Gait in Biological Systems?

Can We Figure Out What Algorithms Are Used For Balance and Gait in Biological Systems?. Chris Atkeson CMU. Goals. What features can be used for standing balance and control? What experiments would distinguish between these approaches in humans, animals, and robots?

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Manipulator Dynamics

Manipulator Dynamics. Amirkabir University of Technology Computer Engineering & Information Technology Department. Introduction. Robot arm dynamics deals with the mathematical formulations of the equations of robot arm motion. They are useful as:

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Ch. 4: Velocity Kinematics

Ch. 4: Velocity Kinematics. Updates. Lab will start next week, the prelab instructions are distributed today This will require Simulink. See the lab instructions for details. Ask one of us for help if you have trouble with Simulink. Addition of angular velocities.

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Angular Kinematics

Angular Kinematics . Chapter 11. Angular Motion All parts of a body move through the same angle, in the same, direction, in the same time More prevalent component of general motion Measurement of angles. Joint or relative angles

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Generation and Control of Humanoid Locomotion Course Project for COMP768

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Optimal Path Planning Using the Minimum-Time Criterion by James Bobrow

Optimal Path Planning Using the Minimum-Time Criterion by James Bobrow. Guha Jayachandran April 29, 2002. Background. Automatic generation of large motions for robots is a problem for many applications (automated factories, for example)

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Continuing with the Jacobian and its uses

Continuing with the Jacobian and its uses. ME 4135 R. R. Lindeke, Ph. D. Connecting the ? Operator to the Jacobian. Examination of the Velocity Vector: If we consider motion to be made in UNIT TIME Then x dot which is dx / dt and dt = 1 (unit time step) then x dot = dx

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Two-link Planar Arm

Two-link Planar Arm. Two-link Planar Arm. Joint Space Dynamic Model. Viscous friction torques. Actuation torques. Coulomb friction torques. Force and moment exerted on the environment. Coriolis/ centripetal torque. Multi-input-multi-output; Strong coupling; Nonlinearity.

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Introduction

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References 1. Hanavan, (1964) AMRL-TR-102.

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Introduction

THE INFLUENCE OF CHRONIC LOW BACK PAIN ON THE SPINE AND HIP JOINT EXCURSIONS AND JOINT TORQUES DURING FORWARD BEND TASKS Stacey L. Moenter, Nikki J. Vander Wiele, Daohang Sha, Christopher R. France*, and James S. Thomas

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