Task and Motion Planning for a 7-DOF serial robot containing only revolute joints needs fast numerically stable inverse kinematics solution. The analytical methods are real-time, but they dependent. Although the numerical based on differential can solve problem (IKP) of 7R robots with arbitrary geometric parameters, their stability is insufficient. Moreover, it time-consuming them to converge s...

Origami processes can generate both rigid and compliant structures from the same homogeneous sheet material. In this article, we advance origami robotics literature by showing that it is possible to construct an arbitrary kinematic chain with prescribed joint compliance a single tubular sheet. Our “Kinegami” algorithm converts Denavit–Hartenberg specification into single-sheet crease pattern fo...

The calibration of kinematic parameters has been widely used to improve the pose (position and orientation) accuracy robot arm. Intelligent measuring equipment with high is usually provided for industrial manipulator. Unfortunately, large noise exists in vision measurement system, which space manipulators. To overcome adverse effect optimality calibrating time, a method based on extended Kalman...

This paper proposed a kinematic model and its calibration scheme to further improve an industrial robots absolute positioning accuracy over the entire workspace. To demonstrate effectiveness in simplified kinematics, this only targets SCARA (Selective Compliance Assembly Robot Arm)-type robot. The includes not link length errors rotary axis angular offsets, widely known as Denavit-Hartenberg (D...

We study the properties of a future singularity encountered by a perfect fluid observer in tilting spatially homogeneous Bianchi cos-mologies. We derive the boost formulae for the Weyl tensor to establish that, for two observers that are asymptotically null with respect to each other, their respective Weyl parameters generally both tend to zero, constant, or infinity together. We examine three ...

This paper presents a Petri net (PN) analysis technique which extend the analysis capabilities of T-invariants. This technique is based on the conversion of the PN into formulas of linear logic and on the introduction of the marking into P-invariants. It allows to test if T-invariants are pertinent related to the application's constraints of marking. Our technique determines for each valid sequ...

We report mid–IR observations of two young stars found in the Taurus dark cloud spatially resolving for the first time their 10 μm emission. The weak–emission T Tauri star DI Tau, tentatively identified by Skrutskie et al. (1990) on the basis of 12 μm IRAS data as an object in the process of dissipating its circumstellar disk, is found to have no infrared excess at a wavelength of 10 μm. The ne...

The main aim of this work is to investigate the actuator driving force variations of a parallel kinematic machine (PKM) for different cutting paths. To meet this aim, a TRR-XY Ž ve-degrees-of-freedom (5DOF) PKM was selected and built for this research, and a dynamic analysis model of the PKM was developed. Here, ‘T’ stands for translational DOF and ‘R’ stands for rotational DOF of the platform....

In the paper we solve the problem of DH-optimal design on a discrete experimental domain, which is formally equivalent to maximizing determinant on the convex hull of a finite number of positive semidefinite matrices. The problem of DH-optimality covers many special design settings, e.g. the D-optimal experimental design for regression models with grouped observations. For DH-optimal designs we...