Titlebook: Computational Kinematics; Jorge Angeles,Günter Hommel,Peter Kovács Book 1993 Springer Science+Business Media Dordrecht 1993 Rigid body.alg

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Meander

Nonlinear Control of Constrained Redundant Manipulatorsd a still nonlinear dynamics in the subspace of the redundant degrees of freedom. By projecting artificial potential and damping forces into the subspace of the redundant degrees of freedom, it is possible e. g. to realize repeatable motions in the joint space for cyclic trajectories or to avoid collisions with obstacles in the workspace.

CLOUT

Feedforward Torque Computations with the Aid of Maple V inverse dynamics to design the feedforward t orq u e con t roller and one for t h e forward d yn am i cs to vali d a t e t h e con t roll er. The symbolic computations are demonstrated on a six degree of freedom PUMA 560 manipulator.

kyphoplasty

The Kinematics of 3-DOF Planar and Spherical Double-Triangular Parallel Manipulatorshe spherical mechanism. Numerical examples are included that admit two real solutions for the former and four real solutions for the latter, among which only two positive values are acceptable. All solutions, both real and complex, are listed.

SUGAR

救护车

Einleitung: Vom sichtbaren Unsichtbaren,ution of a generalized eigenproblem .·ρ+λ .·ρ=.. Related single-loop mechanisms can also be solved. The eigenproblem-method is numerically stable, because eigensystems can be computed without previous determination of the characteristic polynomial. Furthermore, a compact and efficient formulation of

Accolade

https://doi.org/10.1007/978-3-8348-8162-5 equations in a new variable .= tan(./2). This facilitates the solution of goniometric equations and systems of equations. Elementary problems concerning the special case tan(±π/2) and the introduction of trivial extraneous roots into systems of equations are well known and can be handled. The artic

CHOP

https://doi.org/10.1007/978-3-663-05102-2ns for the inverse kinematic problem of nonredundant subchains and a numeric approach solving the local optimizing problem. The result is an efficient method for low degree of redundancy and complex optimizing tasks.

蚊帐

https://doi.org/10.1007/978-3-663-05102-2lators. The validity of these methods is questioned from the viewpoint of the computational efficiency specified in terms of arithmetic operations per iteration step. Even though the pseudo-inverse-based methods provide better convergence, less computation time is needed by steepest descent methods

射手座

Strukturbildende Psychotherapieity .. This set can be described by means of the fasible ranges of values that each variable can take. It is possible, for all planar and spherical loops, obtaining such ranges without explicitly finding the algebraic expression of the solution. The form presented by such ranges permits inferring to