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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.
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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.
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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.
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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...
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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:
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Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
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Fast Kinematic Re-Calibration for Industrial Robot Arms.

Sreekanth Kana1, Juhi Gurnani1, Vishal Ramanathan1

  • 1School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore.

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|March 26, 2022
PubMed
Summary
This summary is machine-generated.

This study presents a fast robot recalibration method using factory calibration data to correct kinematic errors. The approach accurately compensates for joint offsets and link variations, improving robot positioning accuracy.

Keywords:
industrial robotskinematic modellingkinematic re-calibrationlinear regressionparameter identificationpositional accuracyrobot calibration

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Area of Science:

  • Robotics
  • Mechatronics
  • Control Systems

Background:

  • Accurate kinematic modeling is crucial for safe robotic operations.
  • Manufacturing errors, especially joint offsets, cause significant position inaccuracy in robots.
  • Existing calibration methods often require external devices or fixtures.

Purpose of the Study:

  • To develop a fast robot recalibration approach using factory-calibrated controllers as an 'oracle'.
  • To extract calibrated intrinsic robot parameters not directly available.
  • To minimize kinematic mismatch by compensating for joint zero position error and link length variations.

Main Methods:

  • Utilized the factory-calibrated controller as a data source for recalibration.
  • Developed a method to compensate for joint zero position errors and link length variations.
  • Applied the method to a Kinova Gen3 ultra-lightweight robot.

Main Results:

  • Successfully minimized the kinematic mismatch between ideal and factory-calibrated robot models.
  • Experimental analysis validated the proposed recalibration method.
  • Demonstrated significant error reduction compared to uncalibrated models.

Conclusions:

  • The proposed fast-recalibration approach effectively improves robot kinematic accuracy.
  • Leveraging factory calibration data offers a practical solution for enhancing robot performance.
  • The method is validated experimentally for real-world robotic applications.