A first step towards making a toolbox in Maple for industrial robot modelling is taken. Position and orientation of the tool can be determined in terms of the Denavit-Hartenberg joint variables and also the Jacobian relating the linear and angular velocities to the joint velocities. Further on it will be possible to, e.g., differentiate the Jacobian. Future work includes to evaluate different k...

Kinetostatics of a robot is an essential component robotic analysis that includes actuation distribution and torque control. The extant methods mainly include the static transfer formulae force Jacobian matrix algorithms based on Denavit-Hartenberg (D-H) method. They can calculate joint driving torque, but there are some limitations. This paper proposes kinetostatics approach for analyzing seri...

The aim of the paper is to study kinematics manipulator. articulated robot with a spherical wrist has been used for this purpose. Comau NM45 Manipulator chosen kinematic model study. manipulator contains six revolution joints. Pieper’s approach employed (inverse) Using approach, inverse problem divided into two small less complex problems. This reduces time analysing kinematically. forward and ...

This paper is dealing with the robust stability of an uncertain three dimensional (3-D) system using existence MATLAB convex hull functions. Hence, the uncertain model of plant will be simulated by INTLAB Toolbox; furthermore, the root loci of the characteristic polynomials of the convex hull are obtained to judge whether the uncertain system is stable or not. A design third order example for u...

The billiard motion inside an ellipsoid Q ⊂ R is completely integrable. Its phase space is a symplectic manifold of dimension 2n, which is mostly foliated with Liouville tori of dimension n. The motion on each Liouville torus becomes just a parallel translation with some frequency ω that varies with the torus. Besides, any billiard trajectory inside Q is tangent to n caustics Qλ1 , . . . , Qλn ...

Tuning hyper-parameters for large-scale matrix factorization (MF) is very time consuming and sometimes unacceptable. Intuitively, we want to tune hyper-parameters on small sub-matrix sample and then exploit them into the original large-scale matrix. However, most of existing MF methods are scale-variant, which means the optimal hyperparameters usually change with the different scale of matrices...

The decoupled control of robots eases the generation trajectories position, speed and acceleration, as well combination sequences movement in joints. aim this work is to develop an application for motion control, integrating a virtual model into prototype SCARA manipulator 4 DOF. methodology consists: 1. Definition manipulator's workspace; 2. Preparation diagram LabVIEW; 3. Configuration commun...