Many problems in kinematic synthesis of mechanisms and robots lead naturally to systems of bilinear equations in design parameters. Such systems are typically solved using well-known methods for solutions of systems of polynomial equations, e.g., Dialytic Elimination, Grobner bases, and Polynomial Continuation. This paper presents a new nullspace analysis method for solving a system of bilinear...

The authors consider the classical problem of detecting and tracking eddies in flow fields (in the title the adjective ’oceanic’ is present, but the paper is about kinematic flows). To do so they develop a variant, vorticity-based, of the so-called ’Lagrangian descriptors’, and evaluate it in model kinematic flows, as compared with other Lagrangian and Eulerian methodologies. There is some inte...

We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying this property, the problem of planning fast collision-free trajectories between zero velocity states can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. While this approach is well kno...

The information required for solving the inverse kinematic problem associated with any single-loop spatial mechanism is essentially stored in the inverse kinematic solution set of the orthogonal spherical mechanism (SS ÿ 3 for short). The ®rst part of this paper is devoted to the characterization of SS ÿ 3 in terms of its connectivity, singularities and symmetries. The second one focuses on ®nd...

The overall goal of our research is to create a low-cost, home-based computer-based tool to monitor and assist the functional recovery of people with Upper Limb (UL) dysfunction. Our framework, implemented in the form of a Networked Virtual Driving Environment, takes advantage of manipulation of an instrumented manipulandum along prescribed movement patterns to create a sensitive and quantitati...

This paper presents a new di!erentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global exponential regulation property for the transformed kinematic model via a Lyapunov-type argument. In o...

this paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. fuzzy logic control (flc) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  on the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

in this study, boundary element method was used to model sea wave propagation on a hemisphere shape under water tank and oil-water common surface oscillation in the tank. also, kinematic and dynamic oundary conditions of free surface and common surface of oil and water were discritized by finite difference method. there were some singularities in bem method, which were removed by applying zonin...

AbsfractThis paper presents novel and efficient kinematic modeling techniques for “hyper-redundant” robots. This approach is based on a “backbone curve” that captures the robot’s macroscopic geometric features. The inverse kinematic, or “hyper-redundancy resolution,” problem reduces to determining the time varying backbone curve behavior. To efficiently solve the inverse kinematics problem, we ...