Kinematic Model

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A kinematic model is a mathematical representation that describes the motion of objects without considering the forces that cause the motion. It focuses on parameters such as position, velocity, and acceleration, allowing for the analysis of movement trajectories and dynamics in various systems.

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Key research themes

1. How can kinematic models be precisely formulated and solved for complex robotic manipulators to enable accurate motion control and workspace analysis?

This theme encompasses analytical and computational methods for solving the direct and inverse kinematics problems of robotic manipulators, especially serial and parallel manipulators with multiple degrees of freedom. Precise kinematic models are foundational for trajectory planning, workspace determination, and real-time robotic control, impacting both industrial applications and medical assistive technologies.

Kinematics of Serial Manipulators

by Ashitava Ghosal

2025

Key finding: Provides a detailed treatment of the kinematics of serial robotic manipulators using Denavit-Hartenberg parameters, including analytic and numerical solutions for direct and inverse kinematics problems. It emphasizes the... Read more

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The 3-PPPS Parallel Robot with U-Shape Base, a 6-DOF Parallel Robot with Simple Kinematics

by Luc Rolland

2022, Springer Proceedings in Advanced Robotics

Key finding: Introduces a 6-DOF parallel robot design with an analytically solvable kinematic model using Euler angles for orientation representation, replacing quaternions for user-friendliness. The paper presents concise direct and... Read more

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Modeling of Inverse Kinematic Analysis of Open-Source Medical Assist Robot Arm by Python

by Mehmet Gul

2024, Celal Bayar Üniversitesi Fen Bilimleri Dergisi

Key finding: Demonstrates inverse kinematic analysis of a 5-degree-of-freedom open-source robotic arm designed for medical assistance, implemented in Python using Denavit-Hartenberg parameters. The control module computes joint angles for... Read more

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The Mathematical Model of the Human Arm

by Krzysztof Jaskot

2022

Key finding: Develops a forward kinematic and dynamic mathematical model of the human upper arm treating each joint as revolute with defined mass and inertia parameters. Utilizing Euler-Lagrange equations, it offers nonlinear and linear... Read more

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2. How are inertial and friction parameters estimated effectively in dynamic models to enhance model-based control of robotic manipulators?

Precise identification of inertial and frictional parameters in robot dynamic models is vital for implementing model-based control strategies like computed torque control. This theme investigates experimental, statistical, and algorithmic approaches for parameter estimation under noisy measurements, promoting robust and accurate dynamic modeling essential for high-fidelity robot operation and control.

A New Method for Estimating Parameters of a Dynamic Robot Model

by Chao Philip

2015

Key finding: Proposes a full maximum-likelihood (ML) estimation method for robotic inertial and friction parameters that integrates measurement noise into the optimization, outperforming traditional least squares methods in robustness to... Read more

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3. What methodologies enable accurate acquisition and transformation of motion capture data into kinematic information for biomechanical and robotic applications?

Motion capture systems using inertial and magnetic sensors provide digital signals which require transformation into usable kinematic parameters such as joint angles and orientations. This theme covers signal processing models, filtering methods, and calibration protocols designed to translate raw sensor data into precise kinematic representations, facilitating applications in rehabilitation, human motion analysis, and robotic mimicry.

A Kinematic Information Acquisition Model That Uses Digital Signals from an Inertial and Magnetic Motion Capture System

by Mauro Callejas-Cuervo

2024, Sensors

Key finding: Develops a five-stage model that translates inertial and magnetic sensor digital outputs into accurate joint angle estimations using calibration and filtering (e.g., Kalman filters). Validated by comparing elbow and forearm... Read more

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All papers in Kinematic Model

SIMULATION OF CUTTING LOCUS AND OVERLAP CUTTING BY DIAMOND DRESSING IN CMP PROCESS

by IAEME Publication

2019, IAEME

Diamond dressing plays a role in regenerating the polishing pad surface during Chemical Mechanical Planarization/Polishing process (CMP). The diamond dresser has many diamond grits distributed on the flat metal surface. During diamond... more

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Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia

by International Journal of Electrical and Computer Engineering (IJECE)

2017, International Journal of Electrical and Computer Engineering (IJECE)

FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can... more

Coordinate transformation for branch 2 frames was obtained as given by (6) which involve links 2), 25, 23 and 2,.

The constant homogenous transformation for the final link is given by;

Figure 1. Conceptualized initial and final sit-to-stand positions

In order to make the matrices more compact, sin and cos were represented by s and c respectively. Figure 2. Joint kinematic convention for the FES assisted sit-to-stand model

It can be seen from Figure 2 that the complete movement model has 6 DOF which was obtained using the Griibbler’s approach. According to the method number of DOF of any given structure can be obtained using Equations (12) and (13) [35]. Where: DOF; is the number of degrees of freedom, n; rigid body number of degrees of freedom, M; the number of links, J; the number of joints, c;,; the number of contraints on a given joint k, and f;,; joint k number of freedom. Applying to Figure 2: n equals 3 (planer mechanism), M equals 8, J equals 7 and f equals | for all the revolute joints except the fixed joint which is 0. Hence, on substituting in (12) and (13) appropriately, DOF was obtained as 6. Figure 3. Joint kinematic convention for the approximated FES assisted sit-to-stand model

Figure 5. Hip joint locus in the fixed frame during the movement Figure 4. Knee joint locus in the fixed frame during the movement Figure 4, Figure 5 and Figure 6 show the paths/loci of the knee, hip and neck joints respectively, with reference to the fixed frame during the sit-to-stand movements from the initial to the final positions. Figure 7 shows that of the head during the transition, it indicates how the height changes during movement. All the paths were given with reference to the reference or zero frame. It can be clearly seen that the desired paths were obtained which means the concept can be continued and the next stage would be determining the dynamic model. The model can be used for control system design as well as stability analysis.

Figure 6. Neck joint locus in the fixed frame during the movement Figure 7. Head locus in the fixed frame during the movement

In robotics however the manipulators were made up of links and are interconnected by joint: forming the entire structure called the kinematic chain. There are basically three types of joints; revolute prismatic and socket joints. Revolute or rotary joint as the name implies usually give rise to rotation betweet a pair of links, the prismatic or linear joint is for linear movement between dual adjacent links and the socke joint has the combine properties of the revolute and prismatic joints [35]. The counting of the joints usuall starts from zero from the base frame and highest number of the joints gives the degree of freedom (DOF) o the robot for simple planer open loop chain configurations also known as serial configurations. In the case o closed loop chains or combinations of open and closed loop chains the Griibbler’s method can b applied [35].The body segments in Figure 1(a) and Figure 1(b) were carefully assigned configurations o links and joint angles as shown in Table 2, which are more appropriate for the next stage of study.

Figure 2 was the proposed model which clearly describe the motion and suitable for the kinematics analysis. The various segments; shank, thigh, trunk, feet to support distance, support, lower arm upper arm and head and neck segments were represented as 11, 12, 13, 21, 22, 23, 24 and 5 respectively in the figure. And the angles 6,,, 91, .61, .92,,@2,,@2,, 92,, and @, were Theta 11, Theta 12, Theta 13, Theta 23, Theta 24 respectively. It comprise of a closed chain at the beginning. Hence, the structure forms a closed link at joint 0, where it connects the first joints via links 1 (branch 1) and 2 (branch 2), and interconnections continue up to joint 5. Branch | is made up of links: 11, 12 and 13, while branch 2 comprises of links: 21, 22, 23 and 24. Both branches combine at joint 5 and after it was the link 5; the head-neck segment. The suitable joint as the cut joint for this condition was joint 5. Denavit-Hartenberg (DH) method is applied for the analysis and Table 3 shows the DH parameters of the proposed sit-to-stand model. The equation constituting the direct kinematics for the above scenario can be obtained using Equation (1) [27].

Table 3. DH Parameters of the Model Coordinate transformation for branch 1 frames was obtained as shown in (4) and it involves links 1), 1, and 13.

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