Latest Papers

ASME Journal of Mechanisms and Robotics

  • Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot
    by Huang C, Xie F, Liu X, et al. on December 10, 2021 at 12:00 am

    AbstractThis paper presents the kinematic calibration of a four-degrees-of-freedom (4DOF) high-speed parallel robot. In order to improve the calibration effect by decreasing the influence of the unobservable disturbance variables introduced by error measurement, a measurement configuration optimization method is proposed. Configurations are iteratively selected inside the workspace by a searching algorithm, then the selection results are evaluated through an index associated with the condition number of the identification Jacobian matrix; finally, the number of optimized configurations is determined. Since the selection algorithm has been shown to be sensitive to local minima, a meta-heuristic method has been applied to decrease this sensibility. To verify the effectiveness of the algorithm and kinematic calibration, computation validations, pose error estimations, and experiments are performed. The results show that the identification accuracy and calibration effect can be significantly improved by using the optimized configurations.

Application of Floquet Theory to Human Gait Kinematics and Dynamics


In this work, the lower extremity physiological parameters are recorded during normal walking gait, and the dynamical systems theory is applied to determine a stability analysis. The human walking gait pattern of kinematic and dynamical data is approximated to periodic behavior. The embedding dimension analysis of the kinematic variable’s time trace and use of Taken’s theorem allows us to compute a reduced-order time series that retains the essential dynamics. In conjunction with Floquet theory, this approach can help determine the system’s stability characteristics. The Lyapunov–Floquet (L-F) transformation application results in constructing an invariant manifold resembling the form of a simple oscillator system. It is also demonstrated that the simple oscillator system, when re-mapped back to the original domain, reproduces the original system’s time evolution (hip angle or knee angle, for example). A reinitialization procedure is suggested that improves the accuracy between the processed data and actual data. The theoretical framework proposed in this work is validated with the experiments using a motion capture system.
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