1 resultado para Sinter-HIP
em Universidad Politécnica de Madrid
Filtro por publicador
- ABACUS. Repositorio de Producción Científica - Universidad Europea (1)
- Aberdeen University (5)
- Academic Archive On-line (Mid Sweden University; Sweden) (1)
- Adam Mickiewicz University Repository (1)
- AMS Tesi di Dottorato - Alm@DL - Università di Bologna (2)
- AMS Tesi di Laurea - Alm@DL - Università di Bologna (5)
- Andina Digital - Repositorio UASB-Digital - Universidade Andina Simón Bolívar (1)
- ArchiMeD - Elektronische Publikationen der Universität Mainz - Alemanha (1)
- Archivo Digital para la Docencia y la Investigación - Repositorio Institucional de la Universidad del País Vasco (2)
- Aston University Research Archive (1)
- Biblioteca Digital da Câmara dos Deputados (1)
- Biblioteca Digital da Produção Intelectual da Universidade de São Paulo (10)
- Biblioteca Digital de Teses e Dissertações Eletrônicas da UERJ (26)
- Blue Tiger Commons - Lincoln University - USA (1)
- BORIS: Bern Open Repository and Information System - Berna - Suiça (180)
- Boston University Digital Common (1)
- Brock University, Canada (8)
- Bucknell University Digital Commons - Pensilvania - USA (2)
- Cambridge University Engineering Department Publications Database (27)
- CentAUR: Central Archive University of Reading - UK (3)
- Center for Jewish History Digital Collections (1)
- Chinese Academy of Sciences Institutional Repositories Grid Portal (8)
- Coffee Science - Universidade Federal de Lavras (1)
- CORA - Cork Open Research Archive - University College Cork - Ireland (4)
- Dalarna University College Electronic Archive (2)
- Deakin Research Online - Australia (74)
- DI-fusion - The institutional repository of Université Libre de Bruxelles (2)
- Digital Commons at Florida International University (5)
- Digital Repository at Iowa State University (1)
- DigitalCommons@The Texas Medical Center (2)
- DigitalCommons@University of Nebraska - Lincoln (1)
- Digitale Sammlungen - Goethe-Universität Frankfurt am Main (8)
- Duke University (12)
- eResearch Archive - Queensland Department of Agriculture; Fisheries and Forestry (5)
- Gallica, Bibliotheque Numerique - Bibliothèque nationale de France (French National Library) (BnF), France (3)
- Greenwich Academic Literature Archive - UK (2)
- Helda - Digital Repository of University of Helsinki (74)
- Hospitais da Universidade de Coimbra (1)
- Indian Institute of Science - Bangalore - Índia (13)
- Instituto Politécnico do Porto, Portugal (5)
- Lume - Repositório Digital da Universidade Federal do Rio Grande do Sul (2)
- Memoria Académica - FaHCE, UNLP - Argentina (3)
- Ministerio de Cultura, Spain (12)
- National Center for Biotechnology Information - NCBI (6)
- Portal de Revistas Científicas Complutenses - Espanha (2)
- QSpace: Queen's University - Canada (2)
- QUB Research Portal - Research Directory and Institutional Repository for Queen's University Belfast (117)
- Queensland University of Technology - ePrints Archive (189)
- Repositorio Académico de la Universidad Nacional de Costa Rica (1)
- Repositório Institucional da Universidade de Aveiro - Portugal (5)
- Repositório Institucional UNESP - Universidade Estadual Paulista "Julio de Mesquita Filho" (35)
- Repositorio Institucional UNISALLE - Colombia (1)
- RUN (Repositório da Universidade Nova de Lisboa) - FCT (Faculdade de Cienecias e Technologia), Universidade Nova de Lisboa (UNL), Portugal (3)
- School of Medicine, Washington University, United States (2)
- Universidad del Rosario, Colombia (1)
- Universidad Politécnica de Madrid (1)
- Universidade Federal do Rio Grande do Norte (UFRN) (1)
- Universidade Metodista de São Paulo (4)
- Université de Lausanne, Switzerland (13)
- Université de Montréal (1)
- Université de Montréal, Canada (23)
- Université Laval Mémoires et thèses électroniques (2)
- University of Canberra Research Repository - Australia (1)
- University of Michigan (4)
- University of Queensland eSpace - Australia (24)
- University of Southampton, United Kingdom (1)
- University of Washington (2)
- WestminsterResearch - UK (3)
Resumo:
This paper describes an approach to solve the inverse kinematics problem of humanoid robots whose construction shows a small but non negligible offset at the hip which prevents any purely analytical solution to be developed. Knowing that a purely numerical solution is not feasible due to variable efficiency problems, the proposed one first neglects the offset presence in order to obtain an approximate “solution” by means of an analytical algorithm based on screw theory, and then uses it as the initial condition of a numerical refining procedure based on the Levenberg‐Marquardt algorithm. In this way, few iterations are needed for any specified attitude, making it possible to implement the algorithm for real‐time applications. As a way to show the algorithm’s implementation, one case of study is considered throughout the paper, represented by the SILO2 humanoid robot.