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相关概念视频

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 - 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 - 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 for Rotation01:30

Kinematic Equations for Rotation

325
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...
325
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
Rigid Body Equilibrium Problems - I00:49

Rigid Body Equilibrium Problems - I

4.4K
A rigid body is said to be in static equilibrium when the net force and the net torque acting on the system is equal to zero. To solve for rigid body equilibrium problems, do the following steps.
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相关实验视频

Updated: Jul 2, 2025

Operation of the Collaborative Composite Manufacturing CCM System
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Operation of the Collaborative Composite Manufacturing CCM System

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在数值上稳定的解决方案 6R 逆动力学的问题.

Xin Cao1, Evangelos A Coutsias1,2, Sara Pollock3

  • 1Department of Applied Mathematics and Statistics, Stony Brook University, Stony Brook, NY 11794, United States.

Advances in computational science and engineering
|February 29, 2024
PubMed
概括
此摘要是机器生成的。

这项研究提出了一个强大的算法,用于解决6DOF机器人手臂的逆动力学. 该方法有效计算所有解决方案,即使是复杂的配置,增强机器人运动规划.

关键词:
6R操纵器的使用方法复杂的单数值分解.反向动力学是一种反向动力学.分子链的分子链.多个固有值的多重固有值.主要: 65H14 的时间:二级: 65H1010 的时间

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In Vivo Quantification of Hip Arthrokinematics during Dynamic Weight-bearing Activities using Dual Fluoroscopy
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Isokinetic Robotic Device to Improve Test-Retest and Inter-Rater Reliability for Stretch Reflex Measurements in Stroke Patients with Spasticity
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In Vivo Quantification of Hip Arthrokinematics during Dynamic Weight-bearing Activities using Dual Fluoroscopy
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In Vivo Quantification of Hip Arthrokinematics during Dynamic Weight-bearing Activities using Dual Fluoroscopy

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Isokinetic Robotic Device to Improve Test-Retest and Inter-Rater Reliability for Stretch Reflex Measurements in Stroke Patients with Spasticity
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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 计算几何学的计算几何学
  • 应用数学 应用数学 应用数学

背景情况:

  • 反向动力学 (IK) 对于机器人运动规划至关重要.
  • 现有的IK算法经常在复杂的配置和特殊情况下扎.
  • 需要一个稳定和全面的解决方案,用于6次旋转操纵器IK.

研究的目的:

  • 开发一种稳定而准确的算法,用于计算6次革命操纵链的逆动力学问题的所有解决方案.
  • 解决当前方法的局限性,特别是处理有问题的配置.

主要方法:

  • 根据关闭条件制定了一个由20个方程组成的系统.
  • 使用单数值分解 (SVD) 稳定消除两个连接角度.
  • 将被缩小的系统转换为一个一般化的固有值问题,以解决三个角度.
  • 在剩余的角度使用伪反向.
  • 将系统缩小到10个复杂方程,用于加速SVD计算.

主要成果:

  • 该算法成功计算了反向动力学问题的所有解决方案.
  • 通过与现有方法进行比较,证明了稳定性.
  • 在具有挑战性的案例中验证了性能,包括消失链条长度和180度连接角度.

结论:

  • 拟议的算法提供了一种稳定而准确的方法来解决6DOF操纵器反向动力学.
  • 该方法的效率和稳定性使其适用于复杂的机器人应用.
  • 这项工作推进了机器人运动规划和控制的最新技术.