Titlebook: Advances in Robot Kinematics: Analysis and Design; Jadran Lenarčič,Philippe Wenger Book 2008 Springer Science+Business Media B.V. 2008 Hub

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滔滔不绝地说

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Extended Jacobian Inverse Kinematics and Approximation of Distributionsncy 1 this synthesis is accomplished by defining an extended Jacobian inverse that in certain sense approximates the Jacobian pseudo-inverse. The approximation problem is formulated in differential geometric terms, and solved using the existing results on the approximation of a prescribed codistribu

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Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulatorsach is assumed as a guideline. The main contribution of the paper consists in establishing completeness of this algorithm, and in stating its convergence condition in terms of the mobile manipulator’s dexterity matrix. Computer simulations illustrate the performance and the convergence of the algori

泥沼

Robots Based on Assur Group A (3.5)ups) with zero mobility relative to the links to which they are successively added. These Assur groups, which serve as modules in the synthesis and analysis of complex planar mechanisms, might adopt a certain number of positions which allow choosing different solutions for the engineering task. An o

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Kinematics of Free-Floating Systems through Optimal Control Theory the problem within the framework of optimal control theory for discrete linear systems, thanks to a reconsideration of the energy conservation property of this class of systems. This way, inverse kinematics is obtained in a . manner, quite analogous to previous works by the author about dynamical f

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ger in the past..This book continues a tradition from 1991..This book presents the most recent research advances in the theory, design, control and application of robot systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biom

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一起

Exact Muffin-tin Orbitals Methodo the forward kinematics, including a double solution, two distinct solutions or infinite solutions (self-motion), are identified. The Type 2 singularity analysis is then performed for this parallel manipulator. The result, given in [1] without detailed proof, regarding the Type 2 singularities with a non-zero orientation angle is then proved.

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