Abstract: This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parall...

This paper studies modeling of tangential compliance as two rigid bodies collide in the space. Stronge’s spring-based contact structure [13, pp. 95-96] is extended to three dimensions. Slip or stick is indicated by the tangential motion of a massless particle connected to the contact point (viewed as an infinitesimal region) on one body via three orthogonal springs. We show that the effect of t...

In this paper, we present a fast and easy-to-implement locally physics-based Inverse Kinematics(IK) method. Our method builds upon a mass-spring model and relies on force interactions between masses. Joint rotations are computed using the closed-form method with predefined local axis coordinates. Combining these two approaches offers convincing visual quality results obtained with high time per...

A novel approach is proposed for the attitude stabilization and reorientation of an axi-symmetric spacecraft subject to two gas jet actuators. The approach is based on a new formulation of the attitude kinematics. Abstract| In this paper we consider the problem of attitude stabilization of an axi-symmetric spacecraft using two pairs of gas jet actuators. These actuators provide control torques ...

To investigate the parameters of the protein design problem that we are exploring in collaboration with biochemists, we have developed a tool that uses inverse kinematics to support moving small fragments of protein backbone, while respecting biochemists’ desires to “remain in favorable regions of the Ramachandran plot” and “preserve ideal geometry”. By presenting estimates of derivatives in re...

We give a general treatment of twist-three effects in two-photon reactions. We address the issue of the gauge invariance of the Compton amplitude in generalized Bjorken kinematics and relations of twist-three 'transverse' skewed parton distributions to twist-two ones and interaction dependent three-particle correlation functions. Finally, we discuss leading order evolution of twist-three functi...

In this study, a new adaptive synchronized tracking control approach is developed for the operation of multiple robotic manipulators in the presence of uncertain kinematics and dynamics. In terms of the system synchronization and adaptive control, the proposed approach can stabilize position tracking of each robotic manipulator while coordinating its motion with the other robotic manipulators. ...

In this article we investigate the universal C∗-algebras associated to certain 1dimensional simplicial flag complexes which describe the noncommutative circle. We denote it by S 1 . We examine the K-theory of this algebra and the subalgebras S nc 1 /Ik, Ik . Where Ik, for each k, is the ideal in S 1 generated by all products of generators hs containing at least k + 1 pairwise different generato...

This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion pattern, such as Scapulo humeral rhythm. As a result, if a motion of the shoulder isgenerated without the knowledge of kinesiology, it will be seen as un-natural. The proposed technique gener...

In κ-deformed relativistic framework we consider three different definitions of κ-deformed velocities and introduce corresponding addition laws. We show that one of the velocities has classical relativistic addition law. The relation of velocity formulae with the coproduct for fourmomenta and noncommutative space-time structure is exhibited.