— For robotic manipulators that are redundant or with high degrees of freedom, an analytical solution to the inverse kinematics is very difficult or impossible. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics. This paper presents a first analytical solution to the inverse kinematics of a widely u...

the determination of an unknown boundary condition, in a nonlinaer inverse diffusion problem is considered. for solving these ill-posed inverse problems, galerkin method based on sinc basis functions for space and time will be used. to solve the system of linear equation, a noise is imposed and tikhonove regularization is applied. by using a sensor located at a point in the domain of $x$, say $...

The Inverse Kinematics (IK) problem is concerned with finding robot control parameters to bring the into a desired position under kinematics and joint limit constraints. We present globally optimal solution IK for general serial 7DOF manipulator revolute joints polynomial objective function. show that kinematic constraints due rotations can be all generated by second-degree polynomials. This an...

In this paper, we consider the linearly structured partial polynomial inverse eigenvalue problem (LPPIEP) of constructing matrices Ai∈Rn×n for i=0,1,2,…,(k−1) specified linear structure such that matrix P(λ)=λkIn+∑i=0k−1λiAi has m (1⩽m⩽kn) prescribed eigenpairs as its eigenvalues and eigenvectors. Many practical applications give rise to polynomials. Typical are symmetric, skew-symmetric, tridi...