Nonlinear behavior of a functionally graded cantilever beam is analyzed under non-uniform hygro-thermal effect. To solve this problem, finite element method is applied within plane solid continua. Total Lagrangian approach is utilized in the nonlinear kinematic relations. Newton-Raphson method with incremental displacement is used in nonlinear solution. Comparison study is performed. Effects of...

Solving the inverse kinematic-rate problem is an old and ever-present problem in robotics. Many methods of solution for this problem have been discussed over the past 30 years and, as computational speeds have improved, there has been greater expectation that this calculation will be performed online. This paper compares the merits of many of the methods already presented and describes a new ap...

In order to research kinematic reliability of 3-UPS-PU parallel mechanism, the structure and kinematics analysis were performed. Inverse kinematics equation can be derived by homogeneous coordinate transformation formula. Position and orientation output error forward kinematics model was obtained by the differential transformation on the basis of inverse kinematic solution of the position. The ...

The paper by Zhnang and Roth [5] presents a Linear solution to kinematic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved first before solving for the translation parameters for all revolute joints and the orientation parameters for all prismatic joints simultaneously. Our major modification here is to decomp...

A new approach of redundancy resolution for dexterous robots intended for the operations in clustered areas is proposed. These robots are modeled by series kinematic chains with a high number of degrees of freedom and are described by underdetermined systems of kinematic equations. The inverse problem has therefore an infinite number of solutions. The basic idea of the proposed approach is to f...

three-dimensional position measurements by global positioning system (gps) provide purely geometrical estimate of low earth orbiters (leos) positions. it provides uninterrupted tracking of the leos in three spatial dimensions or the so-called kinematic orbit. this solution relies heavily on the observations. high frequency observation noise, outlying observations and low redundancy number of me...

The kinematic analyses, of manipulators and other robotic devices composed of mechanical links, usually depend on the solution of sets of nonlinear equations. There are a variety of both numerical and algebraic techniques available to solve such systems of equations and to give bounds on the number of solutions. These solution methods have also led to an understanding of how special choices of ...

When modeled with ideal joints, many vehicle suspensions contain closed kinematic chains, or kinematic loops, and are most conveniently modeled using a set of generalized coordinates of cardinality exceeding the degrees-of-freedom of the system. Dependent generalized coordinates add nonlinear algebraic constraint equations to the ordinary differential equations of motion, thereby producing a se...

relationships in such a way as to yield a system of equations which describes the velocity and angular velocity of the manipulated object as functions of the robot's joint velocities. The inverse kinematic problem results in a system of equations describing the joint velocities as functions of the object's translational and angular velocities. In both cases it is assumed that the positions of t...