Browsing by Subject "Kinematics"

Now showing 1 - 5 of 5

Open Access
Animation of deformable models
(Pergamon Press, 1994) Güdükbay, Uğur; Özgüç, B.
Although kinematic modelling methods are adequate for describing the shapes of static objects, they are insufficient when it comes to producing realistic animation. Physically based modelling remedies this problem by including forces, masses, strain energies and other physical quantities. The paper describes a system for the animation of deformable models. The system uses physically based modelling methods and approaches from elasticity theory for animating the models. Two different formulations, namely the primal formulation and the hybrid formulation, are implemented so that the user can select the one most suitable for an animation depending on the rigidity of the models. Collision of the models with impenetrable obstacles and constraining of the model points to fixed positions in space are implemented for use in the animations. © 1994.
Open Access
Development of multi-axis laser micromachining system suitable for machining non-linear contoured surfaces
(2016-08) Kerimoğlu, Serhat
In recent years, studies on manufacturing systems have proved the importance of cooperation of positioning systems with laser cutting technology. The performance of the manufacturing system can be improved by utilizing both laser and positioning systems together. In this study, design and development of a micromachining system which can perform on non-linear contoured surfaces is presented. Laser micromachining system is designed and assembled including a nanosecond Q-switched pulsed ber laser, a 6-DOF hexapod manipulator, a granite table in order to absorb vibrations and an external cabin system to isolate the whole system for safety and health issues. Performance characteristics of micromachining devices mainly determined by precision and characteristics of each individual components of the system. Therefore, the studies to improve the performance of the laser micromachining system are related with laser, isolation and positioning systems. A dynamic model of the positioning system is derived to obtain the control parameters for the actual positioning system. By using these parameters, the performance of the laser micromachining system on nonlinear contoured surface is improved and discussed in detail. The simulation environment MATLAB/Sim- Mechanics is used to model the dynamics of the positioning system. With the kinematic and dynamic model of the manipulation system simulations, signi cant performance enhancements are obtained on non-linear contoured surfaces.
Open Access
KiMPA: A kinematics-based method for polygon approximation
(Springer, Berlin, Heidelberg, 2002) Şaykol, Ediz; Gülesir, Gürcan; Güdükbay, Uğur; Ulusoy, Özgür
In different types of information systems, such as multimedia information systems and geographic information systems, object-based information is represented via polygons corresponding to the boundaries of object regions. In many applications, the polygons have large number of vertices and edges, thus a way of representing the polygons with less number of vertices and edges is developed. This approach, called polygon approximation, or polygon simplification, is basically motivated with the difficulties faced in processing polygons with large number of vertices. Besides, large memory usage and disk requirements, and the possibility of having relatively more noise can also be considered as the reasons for polygon simplification. In this paper, a kinematics-based method for polygon approximation is proposed. The vertices of polygons are simplified according to the velocities and accelerations of the vertices with respect to the centroid of the polygon. Another property of the proposed method is that the user may set the number of vertices to be in the approximated polygon, and may hierarchically simplify the output. The approximation method is demonstrated through the experiments based on a set of polygonal objects. © Springer-Verlag Berlin Heidelberg 2002.
Open Access
Motion control for realistic walking behavior using inverse kinematics
(IEEE, 2007-05) Memişoǧlu, Aydemir; Güdükbay,Uğur; Özgüç, Bülent
This study presents an interactive hierarchical motion control system for the animation of human figure locomotion. The articulated figure animation system creates movements using motion control techniques at different levels, like goal-directed motion and walking. Inverse Kinematics using Analytical Methods (IKAN) software, developed at the University of Pennsylvania, is utilized for controlling the motion of the articulated body. © 2007 IEEE.
Open Access
Network model approach to the analysis of multirigid-body systems
(Kluwer Academic Publishers, 1993) Tokad, Y.
The mathematical model of a rigid body in three dimensional motion developed in [1] is used to formulate the equations of motion for the systems of rigid bodies connected to form a special type of open kinematic chain. In this interconnection pattern of rigid bodies, each rigid body is considered as a 3-port component, and for the sake of generality, initially no constraints are imposed on the joints used to interconnect the rigid bodies. The system is considered as an (m+1)-port component and the corresponding terminal equations are obtained in closed form. As an appliction of these equations, a three-link plane manipulator is considered. © 1993 Kluwer Academic Publishers.