The instantaneous kinematic analysis of a manipulator defines the direction and magnitude (translational and rotational) of impending motion at a specific point in time. This analysis is position dependent, and assumes apriori knowledge of the position information. From the position kinematic analysis, a kinematic transformation between joint space and tool space can be represented as: ( ) x = ...

This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...

A systematic way is presented for the construction of multi-step iterative method with frozen Jacobian. The inclusion of an auxiliary function is discussed. The presented analysis shows that how to incorporate auxiliary function in a way that we can keep the order of convergence and computational cost of Newton multi-step method. The auxiliary function provides us the way to overcome the singul...

All methods for solving linear or nonlinear systems of equations require the evaluation of residual vectors, most algorithms are based on Jacobian-vector products and many schemes involve vector-Jacobian products. Moreover, while only exact Newton methods form and factor the Jacobian explicitly, some information about the size of its elements or the structure of its spectrum appears to be indes...

Minimization of a stochastic cost function is commonly used for approximate sampling in high-dimensional Bayesian inverse problems with Gaussian prior distributions and multimodal posterior distributions. The density the samples generated by minimization not desired target density, unless observation operator linear, but distribution useful as proposal importance or Markov chain Monte Carlo met...

in the research, six degrees of freedom hexapod parallel machine tool is studied and investigated. jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on jacobian matrix. geometric parameters of cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, a...