A single inverse solution branch consists of a set of configurations which have a manifold structure in the joint space of dimension equal to the number of redundant degrees of freedom. The existence of such nontrivial preimage manifolds for redundant DoF manipulators allows configuration motions to ...
(23) and the differential formulas of Eq. (24), the geodesic curvature of ΓP is(25)kgP=sinθP+Rkg*sinδPcosδPR2kg*sin2δP,where kg* in the equation is determined by Eq. (20). If kgP is always constant, ΓP must be a spherical circle. Especially, ΓP is a spherical great ...
In order to solve the inverse kinematics (IK) of complex manipulators efficiently, a hybrid equilibrium optimizer slime mould algorithm (EOSMA) is proposed. Firstly, the concentration update operator of the equilibrium optimizer is used to guide the anisotropic search of the slime mould algorithm to...
2.and the formulas of its inverse kinematics arededuled.推导出了其位置反解的解析式。 5)inverse kinematic analysis位置反解 1.New method of inverse kinematic analysis of special-dimension serial robot;具有特殊尺寸机器人的位置反解算法 6)forward and reverse position位置正反解 1.The forward and reve...
Based on the method developed in [K.~H.~Phan and T.~Riemann, Phys.\\ Lett.\\ B {\\bf 791} (2019) 257], detailed analytic results for scalar one-loop two-, three-, four-point integrals in general $d$-dimension are presented in this paper. The calculations are considered all ...
As compared to the process of swarm initialization, during the iterative process, the maximum and minimum values of each dimension in the current swarm were dynamically changed. To fine-tune and generate new individuals, we used the maximum and minimum of each swarm dimension, instead of the ini...
However, in the actual operation of the pile driver manipulator, there will only be one set of solutions due to the stroke limitations of each joint mechanism and the drive cylinder. Bring the matrix 𝑇360T360 as the input value into the kinematics inverse solution model, and solve a set...
As compared to the process of swarm initialization, during the iterative process, the maximum and minimum values of each dimension in the current swarm were dynamically changed. To fine-tune and generate new individuals, we used the maximum and minimum of each swarm dimension, instead of the ini...