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The paper proposes a novel method for extremely fast inverse kinematics computation suitable for fast-moving manipulators and their path planning and for the animation of anthropomorphic limbs. In a preprocessing phase, the workspace of the robot is decomposed into small cells, and data sets for joi...
This paper presents a particle swarm optimization algorithm (PSO) for solving the inverse kinematics of 7 degree-of-freedom (DOF) robotic manipulators. Although the 7-DOF robotic manipulator agilely maneuvers from one pose to another and easily performs some tasks, the inverse kinematics problem of...
Since there are eight branches of solutions to choose from, it can choose the branch of solutions that is away from singularity, obstacles or joint limits for trajectory planning. 展开 关键词: Redundant manipulator 7-DOF inverse kinematics analytical singularity ...
This paper describes the first algorithm for computing the inverse chirp z-transform (ICZT) in O(n log n) time. This matches the computational complexity of the chirp z-transform (CZT) algorithm that was discovered 50 years ago. Despite multiple pr
Yes, you can find the inverse cosine, or arccosine, without a calculator by identifying the value that you want to find the inverse cosine for. Then write down the equationcos(y) = xand solve foryby taking the arcosine of both sides of the equation. ...
The dynamic mathematical model of static var generator (SVG) was carried out by means of state space averaging modeling. Based this model, deficiencies of the dynamic response speed of control variables (reactive power and DC voltage) were observed when conventional bivariate PI control strategy was...
The pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom... J Shen,AK Sanyal,NA Chaturvedi,... - IEEE 被引量: 137发表: 2005年 A geometrical approach to the motion planning problem for a submerged rigid body The main focus of this ...
The construction of a feed-forward controller frequently requires the estimation of an inverse function. Two possible methods to achieve this are: (i) learning the best estimated inverse (BEI), a method that is sometimes referred to as direct inverse learning and (ii) learning the inverse of ...
The center of an effect algebra An effect algebra is a partial algebra modeled on the standard effect algebra of positive self-adjoint operators dominated by the identity on a Hilbert spa... RJ Greechie,D Foulis,S Pulmannová - 《Order-a Journal on the Theory of Ordered Sets & Its Applica...