1 IRCCyN: UMR CNRS 6596, Ecole Centrale de Nantes, Université de Nantes, Ecole des Mines de Nantes Abstract— Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. This pr...

Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion. This paper reviews newly developed methods for the kinematic analysis of hyper-redundant manipulators. These methods can be applied to a wide variety of hyper-redundant morpho...

It is shown that the colour dipole approach to hard scattering at high energy is fully compatible with kT factorization at the leading logarithm approximation (in − log xBj). The relations between the dipole amplitudes and unintegrated diagonal and non-diagonal gluon distributions are given. It is also shown that including the exact gluon kinematics in the kT factorization formula destroys the ...

Let I = [0,1] be the unit interval on the real line andm> 1 be an integer. Let J = {0,1, . . . , m− 1}. For every point x ∈ I , there is a unique base-m representation x = Σk=1 jkm−k with jk ∈ J except for countable many points. Since countable sets do not interfere with our work, we neglect them here. For each j ∈ J , x ∈ [0,1], and n ∈ N, let τj(x,n) = {k : ik = j, 1 ≤ k ≤ n}, then the limit ...

In this paper we present a new, and extremely fast, algorithm for the inverse kinematics of discretely actuated manipulator arms with many degrees of freedom. Our only assumption is that the arm is macroscopicallyserial in structure,meaning that the overall structure is a serial cascade of units with each unit having either a serial or parallel kinematic structure. Our algorithm builds on previ...

We consider the high energy limit of the colour ordered one-loop five-gluon amplitude in the planar maximally supersymmetric N = 4 Yang-Mills theory in the multiRegge kinematics where all of the gluons are strongly ordered in rapidity. We apply the calculation of the one-loop pentagon in D = 6−2ǫ performed in a companion paper [1] to compute the one-loop five-gluon amplitude through to O(ǫ2). U...

According to a recent trend, two different labs the Machine Design lab, and Kinematics, and Dynamics lab are combined into one integrated lab. The time students spend on their projects is halved. To save the quality of undergraduate education, an ew methodology has to be developed. The paper explains the methodology developed by the author while teaching the integrated Kinematics, Dynamics, and...

The paper considers a technique for computation of the inverse kinematic model of the human arm for robot based rehabilitation that uses measurements of the hand position and orientation and radial acceleration of the upper arm. Analytical analysis and empirical validation of the method are presented. The algorithm enables estimation of human arm angles, which can be used in trajectory planning...

In this paper we explore the use of Petri Nets as a tool to control the movements of articulated figures in computer animations. This approach permits us to describe the animation sequence by means of the treatment of events present in its execution. An advantage of this method is that the control may be abstracted in different levels, spanning from the definition of the relation among limbs fo...

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The classification criteria are based on the topology of the workspace. Each group is evaluated according to interesting kinematic properties such as the size of the...