This paper analyzes the singularities of a three degree of freedom (DOF) spatial parallel manipulators utilizing line geometry and linear complex approximation. First, the 6 · 6 matrix, mapping external wrenches acting on the moving platform to internal forces/moments at the manipulator s joints, is derived as a set of six governing lines. By analyzing the dependencies of these lines, all singu...

Large rotating systems, especially gear drives and gearboxes, occur as parts of many mechanical devices transmitting the torque with relatively small loss of power. With the increased demand for high speed machinery, mathematical modeling and dynamic analysis of gear drives gained importance. Mathematical description of such mechanical systems is a complex task evolving for several decades. In ...

In high dimensional robotic system, the manifold of valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose generative adversarial network approach to learn distribution robot configurations constraints. It can generate that are close constraint manifold. present two applications this method. First, by le...

We present a new algorithm for efficient rendering of high-quality depth-of-field (DoF) effects. We start with a single rasterized view (reference view) of the scene, and sample the light field by warping the reference view to nearby views. We implement the algorithm using NVIDIA’s CUDA to achieve parallel processing, and exploit the atomic operations to resolve visibility when multiple pixels ...

 Abstract— We characterize the total degrees of freedom (DoF) of the full-rank MIMO X channel with arbitrary number of antennas at each node. We elucidate that the existing outer bound is tight for any antenna configuration and provide transmit and receive filter designs that attain this outer bound. The proposed achievable scheme exploits channel extensions in terms of both, symbol and asymme...

Currently, there exists a need for a more thorough understanding of native hip joint kinematics to improve the understanding of pathological conditions, injury mechanisms, and surgical interventions. A biomechanical testing system able to accomplish multiple degree-of-freedom (DOF) movements is required to study the complex articulation of the hip joint. Therefore, the purpose of this study was...

Humanoid biped robots are typically complex in design, having numerous Degrees‐of‐Freedom (DOF) due to the ambitious goal of mimicking the human gait. The paper proposes a new architecture for a biped robot with seven DOF per each leg and one DOF corresponding to the toe joint. Furthermore, this work presents close equations for the forward and inverse kinematics by divid...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

There is a need for highly redundant manipulators to work in complex, cluttered environments. Our goal is to plan paths for such manipulators efficiently. The path planning problem‘ has been shown to be PSPACE-complete in terms of the number of degrees of freedom (DOF) of the manipulator. We present a method which overcomes the complexity with a strong heuristic: utilizing redundancy by means o...

An approach is presented for realizing an order-of-magnitude improvement in spatial accuracy for voxel-based 6-DOF haptics. It trades constant-time performance for greater spatial accuracy. This helps to make 6-DOF haptics applicable to extraordinarily complex real-world task simulations, which often admit no other known solution short of physical mockup. A reduction of haptic fidelity is tacti...