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[22] [23] [24] A dynamic problem of this type is the pendulum. Another example is a drum turned by the pull of gravity upon a falling weight attached to the rim by the inextensible cord. [25] An equilibrium problem (i.e. not kinematic) of this type is the catenary. [26]
Kinematic analysis allows the designer to obtain information on the position of each component within the mechanical system. This information is necessary for subsequent dynamic analysis along with control paths. Inverse kinematics is an example of the kinematic analysis of a constrained system of rigid bodies, or kinematic chain.
A differential equation of motion, usually identified as some physical law (for example, F = ma), and applying definitions of physical quantities, is used to set up an equation to solve a kinematics problem. Solving the differential equation will lead to a general solution with arbitrary constants, the arbitrariness corresponding to a set of ...
Paden–Kahan subproblems are a set of solved geometric problems which occur frequently in inverse kinematics of common robotic manipulators. [1] Although the set of problems is not exhaustive, it may be used to simplify inverse kinematic analysis for many industrial robots. [2] Beyond the three classical subproblems several others have been ...
Kinematics; Inverse kinematics: a problem similar to Inverse dynamics but with different goals and starting assumptions.While inverse dynamics asks for torques that produce a certain time-trajectory of positions and velocities, inverse kinematics only asks for a static set of joint angles such that a certain point (or a set of points) of the character (or robot) is positioned at a certain ...
The kinematics equations for the series chain of a robot are obtained using a rigid transformation [Z] to characterize the relative movement allowed at each joint and separate rigid transformation [X] to define the dimensions of each link. The result is a sequence of rigid transformations alternating joint and link transformations from the base ...
For example, one can consider the kinematics problem where one vehicle is heading West toward an intersection at 80 miles per hour while another is heading North away from the intersection at 60 miles per hour.
In fluid mechanics, kinematic similarity is described as “the velocity at any point in the model flow is proportional by a constant scale factor to the velocity at the same point in the prototype flow, while it is maintaining the flow’s streamline shape.” [1] Kinematic Similarity is one of the three essential conditions (Geometric Similarity, Dynamic Similarity and Kinematic Similarity ...