Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Video

Updated: Dec 30, 2025

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.5K

Dynamic Model and Inverse Kinematic Identification of a 3-DOF Manipulator Using RLSPSO.

Josias Batista1, Darielson Souza1, Laurinda Dos Reis1

  • 1Robotics, Automation and Control Research Group (GPAR), Federal University of Ceará, Fortaleza-CE 60455-760, Brazil.

Sensors (Basel, Switzerland)
|January 17, 2020
PubMed
Summary

Related Concept Videos

Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

27.1K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
27.1K
Kinematic Equations for Rotation01:30

Kinematic Equations for Rotation

683
In mechanics, when one observes a rigid body in rotational motion with constant angular acceleration, it is possible to establish equations for its rotational kinematics. This process resembles how linear kinematics are dealt with in simpler motion studies.
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
683
Kinematic Equations - III01:18

Kinematic Equations - III

10.1K
The first two kinematic equations have time as a variable, but the third kinematic equation is independent of time. This equation expresses final velocity as a function of the acceleration and distance over which it acts. The fourth kinematic equation does not have an acceleration term and provides the final position of the object at time t in terms of the initial and final velocities. This equation is useful when the value of the constant acceleration is unknown.
Using the kinematic equations,...
10.1K
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

656
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
656
Kinematic Equations - II01:17

Kinematic Equations - II

12.7K
The second kinematic equation expresses the final position of an object in terms of its initial position, the distance traveled with the initial constant velocity, and the distance traveled due to a change in velocity. Similar to the first kinematic equation, this equation is also only valid when the acceleration is constant throughout the motion of an object.
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
12.7K
Kinematic Equations - I01:26

Kinematic Equations - I

14.0K
When an object moves with constant acceleration, the velocity of the object changes at a constant rate throughout the motion. The kinematic equations of motions are derived for such cases where the acceleration of the object is constant. The first kinematic equation gives an insight into the relationship between velocity, acceleration, and time. We can see, for example:
14.0K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Ultrasonic Sensor Modeling with Support Vector Regression.

Sensors (Basel, Switzerland)·2025
Same author

An Improved Optimization Function to Integrate the User's Comfort Perception into a Smart Home Controller Based on Particle Swarm Optimization and Fuzzy Logic.

Sensors (Basel, Switzerland)·2023
Same journal

RETRACTED: Zhang et al. A Novel Framework for Reconstruction and Imaging of Target Scattering Centers via Wide-Angle Incidence in Radar Networks. <i>Sensors</i> 2025, <i>25</i>, 6802.

Sensors (Basel, Switzerland)·2026
Same journal

Enhancing Unsupervised Multi-Source Domain Adaptation for Person Re-Identification via Mixture of Experts and Graph-Based Relation.

Sensors (Basel, Switzerland)·2026
Same journal

Development of an Instrumented Glove for Palmar Pressure Assessment in Kayakers.

Sensors (Basel, Switzerland)·2026
Same journal

Development and Experimental Validation of an Autonomous IoT-Based Monitoring System for Real-Time Water Quality Assessment in the Amazon River.

Sensors (Basel, Switzerland)·2026
Same journal

Semi-Supervised Adversarial Learning Framework for Controller Area Network Bus Intrusion Detection.

Sensors (Basel, Switzerland)·2026
Same journal

Smart Optimization Method for Safety Signs in Innovative Manufacturing Environments Integrating Industrial Field IoT Sensors and Knowledge Graphs.

Sensors (Basel, Switzerland)·2026
See all related articles
This summary is machine-generated.

This study identifies inverse kinematics for a cylindrical manipulator using Least Squares (LS), Recursive Least Square (RLS), and a hybrid RLS-Particle Swarm Optimization (RLSPSO) method. The RLSPSO approach demonstrated superior identification accuracy and improved computational efficiency over traditional methods.

Area of Science:

  • Robotics
  • Control Systems Engineering
  • Computational Intelligence

Background:

  • Accurate inverse kinematics are crucial for precise robot control.
  • Traditional methods like Least Squares (LS) and Recursive Least Square (RLS) have limitations in dynamic parameter identification.
  • Particle Swarm Optimization (PSO) offers a robust optimization framework but can be computationally intensive.

Purpose of the Study:

  • To identify the inverse kinematics of a cylindrical manipulator.
  • To compare the performance of LS, RLS, and a novel hybrid RLS-PSO algorithm (RLSPSO).
  • To enhance the computational efficiency and accuracy of RLS for dynamic parameter identification.

Main Methods:

  • A helical trajectory was used as input for the cylindrical manipulator.
Keywords:
dynamic modelimproved RLS with PSOinverse kinematicsleast Squaresrecursive least squares

More Related Videos

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

10.1K
Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.9K

Related Experiment Videos

Last Updated: Dec 30, 2025

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.5K
A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

10.1K
Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.9K
  • Dynamic models were derived using Lagrange equations and motion equations.
  • Inverse kinematics were identified using LS, RLS, and the RLSPSO algorithm.
  • Torque values were calculated based on identified inverse kinematics, joint speeds, and accelerations.

    • Main Results:

    • The RLSPSO algorithm achieved higher identification accuracy compared to LS and PSO.
    • The hybrid RLSPSO method improved upon the computational cost and results of the classic RLS.
    • Comparative analysis included trajectories, speeds, accelerations, torques, computational costs, and Multi-Correlation Coefficient (R²).

    Conclusions:

    • The RLSPSO method provides a significant improvement for inverse kinematics identification in cylindrical manipulators.
    • The proposed hybrid approach effectively balances accuracy and computational efficiency.
    • This work offers a valuable enhancement to existing RLS techniques for complex robotic systems.