The paper concludes with a brief discussion of applications where higher derivatives are relevant. These are the kinematic analysis and determination of motion spaces of serial mechanisms, the higher-order mobility analysis, and the algebraic formulation of motion equations....
Pinocchioexploits, at best, the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms,Pinocchiocan unroll most of the computations directly at compile time, allowing to achieve impressive performances for a large range of robots, as illustrated by ...
(eexXAeexXVXXdtdttXtXdtdt Onecanwritethemotioninthespatialdescriptionbyinvertingthematerialdescription:334122242211,1,1xXtxtxXtxtxX Substitutingintheseequationsthengivesthespatialdescriptionofthevelocityandacceleration: 2212112124422121121244(,)(,),2211(,)(,),2211xtxxtxtttttttxtxxtxttttt vxVχxeeaxAχxee■...
Kinematic Navigation of a Mobile Robot to the Maximizer of an Environmental Field without Derivatives EstimationAnimalsRabbitsCitrusGlycoproteinsImmunoglobulin GPlant ProteinsPlant ExtractsAllergensImmunizationChromatography, GelWe consider a single kinematically controlled mobile robot traveling in a planar region ...
This is done by introducing a Taylor series into the free undamped kinematic nonlinear equations of motion. Also, the approximate governing equations are improved by introducing a novel geometric restriction. By way of an example, it is shown that only the modal derivatives determined from the ...
We also show how to use Lie derivatives with the Newton-Raphson Method to solve the forward kinematic problem for over constrained parallel actuators. Finally, we derive the equations of motion of the end effector in dual quaternion form, which include the effect of inertia...
Pinocchioexploits, at best, the sparsity induced by the kinematic tree of robotics systems. Thanks to modern programming language paradigms,Pinocchiocan unroll most of the computations directly at compile time, allowing to achieve impressive performances for a large range of robots, as illustrated by ...
To present the applications of the results, three problems are investigated in the field of satellite geodesy. In the first application, orbit propagated by the numerical solution of orbital equations is compared with the Keplerian motion. It is shown that the new method for solving ordinary ...
The optimized regression equation enabled the prediction of kinematic, dynamic, relative, and specific viscosity of the aqueous solutions of cellulose derivatives. The dimensionless relative viscosity could be recommended because it takes into account the water viscosity at the same experimental temperature....
Phospholipid derivatives, process for preparation thereof and pharmaceutical composition of the sameElectric Power PlantsPressure OscillationsStorage TanksTransient ResponseTurbine PumpsWater HammerEnergy DissipationFriction FactorKinematic EquationsPerformance Tests......