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Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

12.4K
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...
12.4K
Kinematic Equations - II01:17

Kinematic Equations - II

9.5K
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...
9.5K
Kinematic Equations - III01:18

Kinematic Equations - III

7.6K
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,...
7.6K
Kinematic Equations - I01:26

Kinematic Equations - I

10.5K
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:
10.5K
Kinematic Equations for Rotation01:30

Kinematic Equations for Rotation

324
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...
324
Kinetic Energy for a Rigid Body01:13

Kinetic Energy for a Rigid Body

212
Imagine a solid object involved in a general planar movement, with its center of mass pinpointed at a spot labeled G. The object's kinetic energy relative to an arbitrary point A can be quantified for each of its particles - the ith particle in this case. This measurement is achieved through the employment of the relative velocity definition. The position vector, known as rA, extends from point A to the mass element i.
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Related Experiment Video

Updated: Jun 29, 2025

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
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Simple Inverse Kinematics Computation Considering Joint Motion Efficiency.

Ansei Yonezawa, Heisei Yonezawa, Itsuro Kajiwara

    IEEE Transactions on Cybernetics
    |March 27, 2024
    PubMed
    Summary

    This study introduces a straightforward inverse kinematics (IK) method for industrial robots. It optimizes joint movements for precise end-effector positioning and efficient robot operation, verified with redundant manipulators.

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    Area of Science:

    • Robotics
    • Control Systems
    • Optimization

    Background:

    • Inverse kinematics (IK) is crucial for industrial manipulator control but presents significant challenges.
    • Existing methods often struggle to balance end-effector accuracy with joint motion efficiency.

    Purpose of the Study:

    • To develop a simple and effective IK calculation scheme for industrial serial manipulators.
    • To integrate end-effector accuracy with joint motion efficiency in IK solutions.

    Main Methods:

    • Formulated IK as a numerical optimization problem using two scalar functions: one for end-effector pose and one for joint motion efficiency.
    • Developed a novel algorithm based on simultaneous perturbation stochastic approximation with a norm-limited update vector (NLSPSA) to solve the optimization problem.

    Main Results:

    • The proposed method successfully calculates joint variables for desired end-effector position and orientation while minimizing motion costs.
    • The NLSPSA-based algorithm demonstrated high calculation efficiency, simplifying implementation.
    • Numerical examples using a redundant manipulator confirmed the method's effectiveness and practicality.

    Conclusions:

    • The proposed IK scheme offers a practical solution for industrial manipulators by considering both accuracy and efficiency.
    • The NLSPSA algorithm provides a simple, efficient, and easy-to-implement approach for solving complex IK problems.