scientific article; zbMATH DE number 3108949

zbMath0064.15603MaRDI QIDQ5847680

J. Denavit, Richard S. Hartenberg

Publication date: 1955

Title: zbMATH Open Web Interface contents unavailable due to conflicting licenses.

zbMATH Keywords

differential geometry

Related Items

Modeling for optical ray tracing and error analysis, Computational dynamics of three-dimensional closed chains of rigid bodies, Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints, Inverse kinematics solutions for industrial robot manipulators with offset wrists, Skew ray tracing and sensitivity analysis of ellipsoidal optical boundary surfaces, Application of joint coordinates and homogeneous transformations to modeling of vehicle dynamics, An efficient recursive approach for computer generation of manipulator dynamic model, Closed form inverse kinematics solution for a redundant anthropomorphic robot arm, Study of a distributed control architecture for a quadruped robot, Screw and Lie group theory in multibody kinematics. Motion representation and recursive kinematics of tree-topology systems, Motion planning for redundant prismatic-jointed manipulators in the free-floating mode, A Newton-like algorithm to compute the inverse of a nonlinear map that converges in finite time, Robotic capability determined from planes of motion, Rotational elastic dynamics, Computer generation of symbolic kinematics for robot manipulators, Geometry design of roller gear cams with hyperboloid rollers, Efficient robot arm modeling for computer control, A comparative study of recursive methods, A generalization of Kempe's linkages, Mobile assemblies of Bennett linkages from four-crease origami patterns, Effect of tension parameters and intervals on splines‐under‐tension based robot trajectory planning, Determination of the symbolic base inertial parameters of planar mechanisms, Kinematics of robot manipulators via line transformations, Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system, Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations, Automated synthesis of surface generation equations with application to gearing, Linearized dynamic models of robot manipulators in cartesian space, An improved method for on-line calculation and compensation of the static deflection at a robot end-effector, A geometry- and muscle-based control architecture for synthesising biological movement, Dynamic motion planning of overarm throw for a biped human multibody system, A recursive, numerically stable, and efficient simulation algorithm for serial robots, Optimization-based motion prediction of mechanical systems: sensitivity analysis, Three dimensional unassisted sit-to-stand prediction for virtual healthy young and elderly individuals, Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches, Predictive simulation of human walking transitions using an optimization formulation, Spinorial method of terminal control of spatial rotations, Analytical solution to inverse kinematic problem for 6-DOF robot-manipulator, Kinematics of automatic guided vehicles with an inclined steering column and an offset distance: criterion for existence of inverse kinematic solution, A systematic method of dynamics for flexible robot manipulators, A new notation for transform matrix and definitions of related operations, Modeling and error compensation of robotic articulated arm coordinate measuring machines using BP neural network, Spatial properties of wohlhart symmetric mechanism, Dynamic model of robot manipulator in explicit form formulation with dual vectors and the notion of augmented body, Closed form synthesis of planar and spatial linkages function generation with symbolic representation, A topologist’s view of kinematic maps and manipulation complexity, Levels of sensorimotor representation, A novel optimal design of measurement configurations in robot calibration, Graphical operation of vectors and matrices., Ball-and-finger system: modeling and optimal trajectories, Topology of serial and parallel manipulators and topological diagrams, Multiple constrained rivaling actuators in the optimal control of miniaturized manipulators, Two-dimensional team lifting prediction with floating-base box dynamics and grasping force coupling, Optimal Control of Rigid-Link Manipulators by Indirect Methods, A novel formulation for determining joint constraint loads during optimal dynamic motion of redundant manipulators in DH representation, A solution to the generalized problem of nonlinear map inversion, Structural synthesis of Euclidean platform robot manipulators with variable general constraints, Optimization design method for kirigami-inspired space deployable structures with cylindrical surfaces, Modelling of three-dimensional mechanical systems using point coordinates with a recursive approach, Geometric methods and formulations in computational multibody system dynamics, Three-parametric robot manipulators with parallel rotational axes., An optimization technique for the balancing of spatial mechanisms, Optimal dynamics of actuated kinematic chains. I: Dynamic modelling and symbolic differentiations, Human lifting simulation using a multi-objective optimization approach, Mathematical modeling and analysis of the delta robot with flexible links, Kinematic analysis of the robot having closed chain mechanisms based on an improved modeling method and Lie group theory, Kinematic analysis of a universal spatial mechanism containing a higher pair based on tori, Bifurcation of a special line and plane symmetric Bricard linkage, Forward kinematic problem of 5-R\(\underline {\text P}\)UR parallel mechanisms (3T2R) with identical limb structures, Modelling friction in the dynamics analysis of selected one-DOF spatial linkage mechanisms, A new method for the geometric modeling of lower pairs and its application to the kinematic spaces of spatial robots, A general force/torque relationship and kinematic representation for flexible link manipulators, The line-symmetric octahedral Bricard linkage and its structural closure, Subject-specific strength percentile determination for two-dimensional symmetric lifting considering dynamic joint strength, Kinematics of haylage bale in 3D space as a body of one fix point and two rotations, A generalised geometrical model of turning operations for cutting force modelling using edge discretisation, A new methodology for solving trajectory planning and dynamic load-carrying capacity of a robot manipulator, Circular laser/camera-based attitude and altitude estimation: minimal and robust solutions, Recursive modeling and control of multi-link manipulators with vacuum grippers, On the placement of open-loop robotic manipulators for reachability, On the fourth order finite screw system: General displacement of a point in a rigid body, An offset error compensation method for improving ANN accuracy when used for position control of precision machinery, A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links, Computer-assisted generation of robot dynamic models in an analytic form, Assessing joint angles in human hand via optical tracking device and calibrating instrumented glove, A review of flexible multibody dynamics for gradient-based design optimization, Optimization-based dynamic human walking prediction: One step formulation, An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations, A generalized kinematic modeling method for modular robots, Structural design of parallel manipulators with general constraint one, Algebraic methods for computing inverse kinematics, Application of the general elimination method in robot kinematics, Robotic problems over a configurational manifold of vector parameters and dual vector parameters, Pose estimation in conformal geometric algebra. II: Real-time pose estimation using extended feature concepts, Dynamic analysis of spatial linkages: a recursive approach, Group-theoretical methods in manipulator kinematics and symbolic computations, Application of graphical operation method to the dynamics and relative-motion problems., Use of observers for the inversion of nonlinear maps, Dynamic modelling of flexible robotic mechanisms and adaptive robust control of trajectory computer simulation. I, Real-time collision-free path planning for robots in configuration space, Basic theoretical results for expert systems. application to the supervision of adaptation transients in planar robots, Tactile Sensing-based Control System for Dexterous Robot Manipulation, Flexible multibody system modelling of an aerial rescue ladder using Lagrange’s equations, An analytical approach based on Dixon resultant for the inverse kinematics of 6R robot manipulators with offset wrists, High-order inverse dynamics of serial robots based on projective geometric algebra, Dual quaternions for the kinematic description of a fish-like propulsion system, A simplified recursive formulation for the dynamic analysis of planar mechanisms, Symbolic structural synthesis and a description method for plane kinematic chains in robotics, Motor algebra approach for visually guided robotics, Reference trajectory tracking for a multi-DOF robot arm, A practical symbolic algorithm for the inverse kinematics of 6R manipulators with simple geometry, And yet it moves: Paradoxically moving linkages in kinematics