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Inverse Jacobian Programming Approach to Robotic Path Planning of Various Path Profiles
A robot is programmed to move continuous path and point to point operation. Inverse Jacobian approach is used for continuous path planning. Built in...
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Statics analysis based on the reduced multibody system transfer matrix method
The reduced multibody system transfer matrix method can efficiently solve the generalized accelerations of a system without establishing global...
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Six DOF robot: inverse kinematics solution to path planning for intersecting pipes for welding operation and inverse Jacobian comparison
Robot's movement along a continuous path, point-to-point operations are programmed. In continuous path welding operation, the path is planned at the...
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An isoparametric tangled finite element method for handling higher-order elements with negative Jacobian
This paper presents an isoparametric tangled finite element method (i-TFEM) method for handling tangled high order/curvilinear meshes. Tangled...
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Research on geometric error modeling and compensation method of CNC precision cylindrical grinding machine based on differential motion theory and Jacobian matrix
The machining precision of grinding machine determines the precision of parts. To improve the machining accuracy, an effective geometric error...
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Jacobian-Free Newton-Krylov Method for Risk Identification
The identification of disruptive initial events on vulnerable components is crucial to the protection and reliability enhancement of critical...
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Use of a path-following method for finding static equilibria of multibody systems modeled by the reduced transfer matrix method
Finding the stable static equilibrium position of multibody systems is a well-known problem. Dynamic relaxation methods are frequently utilized in...
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A Transposed Jacobian Position Control for Differential Drive Mobile Robots
This paper addresses the application of the transposed Jacobian control technique to a differential drive mobile robot. Building upon previous...
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Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation
The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle, which...
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Performance analysis of 3-PPRU parallel mechanism with a completely/partially/non constant Jacobian matrix
This paper proposes a 3-PPRU parallel mechanism (PM) with a completely/partially/non constant Jacobian matrix. Based on screw theory and selecting...
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The Uncertain Generalized Moment Problem with Complexity Constraint
This paper is dedicated to Arthur Krener – a great researcher, a great teacher and a great friend – on the occasion of his 60th birthday. In this...
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Study on the Direct Differential Method in Constraint Violations for the Reduced Multibody System Transfer Matrix Method
The Reduced Multibody System Transfer Matrix Method (RMSTMM) is a technique that utilizes relative coordinates and formulates kinetic equations at...
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Asymmetric Dual-Arm Task Execution Using an Extended Relative Jacobian
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in...
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Absolute coordinate formulation and generalized component mode synthesis with rigid body coordinates
The dynamics of linearly-elastic multibody (MB) systems is conventionally modeled via the floating frame of reference formulation (FFRF); however,...
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Transpose Jacobian Control of Flexible Joint Upper Limb Exoskeleton System
In the present work, a two-link upper limb exoskeleton system is considered with harmonic drive actuators to track a semi-circular and L-shape path....
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An Improved UFastSLAM With Generalized Correntropy Loss and Adaptive Genetic Resampling
The simultaneous localization and map** (SLAM) is a research hotspot in robot navigation. In this paper, an improved UFastSLAM with generalized...
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Generalized Solitary Wave Approximate Analytical and Numerical Solutions for Generalized Damped Forced KdV and Generalized Damped Forced MKdV Equations
In this article, we study the non-linear partial differential equation given by...
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Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras
Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms, and the generalized analysis method and...
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Algorithm Research and Program Implementation of Q Matrix Eigenvalue
The problem of solving matrix eigenvalue is a hot research topic in systems engineering and electronics, because matrix eigenvalue has important...
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Projection continuation for minimal coordinate set formulation and singularity detection of redundantly constrained system dynamics
The formulation of (possibly redundantly) constrained system dynamics using coordinate projection onto a subspace locally tangent to the constraint...
