Delta robot: Inverse, direct, and intermediate Jacobians

Delta robot: inverse, direct, and intermediate Jacobians

In the context of a parallel manipulator, inverse and direct Jacobian matrices are known to contain information which helps us identify some of the singular configurations. In this article, we employ kinematic analysis for the Delta robot to derive the velocity of the end-effector in terms of the angular joint velocities, thus yielding the Jacobian matrices. Setting their determinants to zero, ...

Local SVD inverse of robot Jacobians

Mixed Intermediate Jacobians

global results on some nonlinear partial differential equations for direct and inverse problems

در این رساله به بررسی رفتار جواب های رده ای از معادلات دیفرانسیل با مشتقات جزیی در دامنه های کراندار می پردازیم . این معادلات به فرم نیم-خطی و غیر خطی برای مسایل مستقیم و معکوس مورد مطالعه قرار می گیرند . به ویژه، تاثیر شرایط مختلف فیزیکی را در مساله، نظیر وجود موانع و منابع، پراکندگی و چسبندگی در معادلات موج و گرما بررسی می کنیم و به دنبال شرایطی می گردیم که متضمن وجود سراسری یا عدم وجود سراسر...

Robot Manifolds for Direct and Inverse Kinematics Solutions

We present a novel algorithm to estimate robot kinematic manifolds incrementally. We relate manifold learning with the forward and inverse kinematic of robots. The learned structure encodes this functions and so it is possible to recover them from the manifold. Our algorithm works without any knowledge of the robot kinematics and can potentially work in highly-dimensional spaces. We present som...