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 ...
According to the rule that the spherical moving centrode is the boundary curve, only the points in between the two branches of the spherical moving centrode on BG2 can trace spherical coupler curves with one spherical crunode. The changes of the global characteristics of the coupler curves of ...
Due to the metaheuristic algorithms run at random, each run will have a higher or lower value than the preceding one. To avoid the influence of randomness in the selection of position points, 100 different position points were generated at random in the workspace of the manipulator, as shown ...
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 ...
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...
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...
Quaternion representation has four components with one redundant parameter, and a normalization constraint has to be addressed in filtering algorithms. However, the KFs and UKFs are not designed to preserve the unit-norm property of the quaternion, and consequently the filter algorithm should be ...